Merge branch 'main' into prefix-behavior_path_external_request_lane_c…

…hange_module

.github/CODEOWNERS

@@ -56,7 +56,7 @@ common/time_utils/** [email protected] [email protected] tomo
 common/traffic_light_recognition_marker_publisher/** [email protected] [email protected] [email protected]
 common/traffic_light_utils/** [email protected] [email protected] [email protected]
 common/tvm_utility/** [email protected] [email protected]
-control/autonomous_emergency_braking/** [email protected] [email protected] [email protected]
+control/autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected]
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/external_cmd_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -69,6 +69,7 @@ control/pid_longitudinal_controller/** [email protected] takamasa.horibe@tie
 control/predicted_path_checker/** [email protected]
 control/pure_pursuit/** [email protected]
 control/shift_decider/** [email protected]
+control/smart_mpc_trajectory_follower/** [email protected]
 control/trajectory_follower_base/** [email protected] [email protected]
 control/trajectory_follower_node/** [email protected] [email protected]
 control/vehicle_cmd_gate/** [email protected] [email protected]
@@ -156,7 +157,9 @@ perception/traffic_light_multi_camera_fusion/** [email protected] tao.zhon
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 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_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
+planning/autoware_static_centerline_generator/** [email protected] [email protected]
 planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_dynamic_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
@@ -182,7 +185,7 @@ planning/behavior_velocity_run_out_module/** [email protected] makoto.kur
 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]
+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]
@@ -197,7 +200,7 @@ planning/obstacle_cruise_planner/** [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
-planning/planning_test_utils/** [email protected] [email protected]
+planning/planning_test_utils/** [email protected] [email protected] takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 planning/planning_topic_converter/** [email protected] [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -208,7 +211,6 @@ planning/sampling_based_planner/frenet_planner/** [email protected]
 planning/sampling_based_planner/path_sampler/** [email protected]
 planning/sampling_based_planner/sampler_common/** [email protected]
 planning/scenario_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/static_centerline_generator/** [email protected] [email protected]
 planning/surround_obstacle_checker/** [email protected]
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/image_diagnostics/** [email protected] [email protected]
@@ -225,7 +227,7 @@ sensing/vehicle_velocity_converter/** [email protected]
 simulator/dummy_perception_publisher/** [email protected]
 simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
-simulator/simple_planning_simulator/** [email protected] [email protected]
+simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 simulator/vehicle_door_simulator/** [email protected]
 system/autoware_auto_msgs_adapter/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
@@ -249,6 +251,7 @@ system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]
 system/velodyne_monitor/** [email protected]
+tools/reaction_analyzer/** [email protected]
 vehicle/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]

common/motion_utils/include/motion_utils/resample/resample_utils.hpp

@@ -27,7 +27,11 @@ namespace resample_utils
 {
 constexpr double close_s_threshold = 1e-6;
 
-#define log_error(message) std::cerr << "\033[31m " << message << " \033[0m" << std::endl;
+static inline rclcpp::Logger get_logger()
+{
+  constexpr const char * logger{"motion_utils.resample_utils"};
+  return rclcpp::get_logger(logger);
+}
 
 template <class T>
 bool validate_size(const T & points)
@@ -62,27 +66,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
 {
   // Check size of the arguments
   if (!validate_size(input_points)) {
-    log_error("[resample_utils] invalid argument: The number of input points is less than 2");
+    RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
     tier4_autoware_utils::print_backtrace();
     return false;
   }
   if (!validate_size(resampling_intervals)) {
-    log_error(
-      "[resample_utils] invalid argument: The number of resampling intervals is less than 2");
+    RCLCPP_DEBUG(
+      get_logger(), "invalid argument: The number of resampling intervals is less than 2");
     tier4_autoware_utils::print_backtrace();
     return false;
   }
 
   // Check resampling range
   if (!validate_resampling_range(input_points, resampling_intervals)) {
-    log_error("[resample_utils] invalid argument: resampling interval is longer than input points");
+    RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
     tier4_autoware_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
-    log_error("[resample_utils] invalid argument: input points has some duplicated points");
+    RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
     tier4_autoware_utils::print_backtrace();
     return false;
   }
@@ -95,23 +99,23 @@ bool validate_arguments(const T & input_points, const double resampling_interval
 {
   // Check size of the arguments
   if (!validate_size(input_points)) {
-    log_error("[resample_utils] invalid argument: The number of input points is less than 2");
+    RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
     tier4_autoware_utils::print_backtrace();
     return false;
   }
 
   // check resampling interval
   if (resampling_interval < motion_utils::overlap_threshold) {
-    log_error(
-      "[resample_utils] invalid argument: resampling interval is less than " +
-      std::to_string(motion_utils::overlap_threshold));
+    RCLCPP_DEBUG(
+      get_logger(), "invalid argument: resampling interval is less than %f",
+      motion_utils::overlap_threshold);
     tier4_autoware_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
-    log_error("[resample_utils] invalid argument: input points has some duplicated points");
+    RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
     tier4_autoware_utils::print_backtrace();
     return false;
   }