Merge branch 'main' into mau/fix/sensing/vehicle_velocity_converter

.github/CODEOWNERS

@@ -1,5 +1,7 @@
 ### Automatically generated from package.xml ###
+autoware_dependency_checker/** [email protected]
 bag2lanelet/** [email protected] [email protected]
+common/autoware_debug_tools/** [email protected] [email protected] [email protected]
 common/mission_planner_rviz_plugin/** [email protected]
 common/rtc_manager_rviz_plugin/** [email protected] [email protected]
 common/tier4_automatic_goal_rviz_plugin/** [email protected] [email protected] [email protected] [email protected]
@@ -11,6 +13,7 @@ common/tier4_debug_tools/** [email protected]
 common/tier4_logging_level_configure_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_screen_capture_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_simulated_clock_rviz_plugin/** [email protected]
+common/tier4_string_viewer_rviz_plugin/** [email protected]
 common/tier4_target_object_type_rviz_plugin/** [email protected]
 control/control_debug_tools/** [email protected] [email protected]
 control/stop_accel_evaluator/** [email protected]
@@ -20,6 +23,11 @@ driving_environment_analyzer/** [email protected]
 evaluation/tier4_metrics_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/deviation_estimation_tools/deviation_estimator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/deviation_estimation_tools/deviation_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+map/autoware_lanelet2_map_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+map/autoware_lanelet2_map_validator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+map/autoware_pointcloud_divider/** [email protected]
+map/autoware_pointcloud_merger/** [email protected]
+planning/autoware_planning_data_analyzer/** [email protected] [email protected]
 planning/autoware_route_client/** [email protected]
 planning/autoware_rtc_replayer/** [email protected] [email protected]
 planning/planning_debug_tools/** [email protected] [email protected] [email protected]

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

@@ -16,7 +16,7 @@ jobs:
   build-and-test-differential:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

.github/workflows/cancel-previous-workflows.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/[email protected]

.github/workflows/check-build-depends.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   check-build-depends:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/clang-tidy-pr-comments-manually.yaml

@@ -8,7 +8,7 @@ on:
         required: true
 jobs:
   clang-tidy-pr-comments-manually:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/clang-tidy-pr-comments.yaml

@@ -10,7 +10,7 @@ on:
 jobs:
   clang-tidy-pr-comments:
     if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/delete-closed-pr-docs.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   delete-closed-pr-docs:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/deploy-docs.yaml

@@ -27,7 +27,7 @@ jobs:
   deploy-docs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/github-release.yaml

@@ -15,7 +15,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name

.github/workflows/json-schema-check.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   json-schema-check:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/openai-pr-reviewer.yaml

@@ -25,7 +25,7 @@ jobs:
   review:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: fluxninja/openai-pr-reviewer@latest
         env:

.github/workflows/pr-labeler.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/labeler@v4
         with:

.github/workflows/pre-commit-optional.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/pre-commit.yaml

@@ -6,7 +6,7 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/spell-check-all.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   spell-check-all:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/spell-check-partial.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   spell-check-partial:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/sync-files.yaml

@@ -14,7 +14,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-codeowners-from-packages.yaml

@@ -14,7 +14,7 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/system_performance_plotter_base.py

@@ -36,6 +36,7 @@ def __init__(self, args, ylabel, output_suffix):
         self.ymax = args.ymax
         self.number_of_plot = args.number_of_plot
         self.save_result = args.save_result
+        self.skip_plt_show = args.skip_plt_show
         self.ylabel = ylabel
         self.output_suffix = output_suffix
 
@@ -174,7 +175,8 @@ def run(self):
             # save figure of plot
             plt.savefig(f"./result/{output_name}-{timestamp}.png")
 
-        plt.show()
+        if not self.skip_plt_show:
+            plt.show()
 
 
 def create_common_argment(ymax=None):
@@ -193,6 +195,13 @@ def create_common_argment(ymax=None):
     parser.add_argument(
         "-s", "--save-result", default=False, action="store_true", help="whether to save result"
     )
+    parser.add_argument(
+        "-p",
+        "--skip_plt_show",
+        default=False,
+        action="store_true",
+        help="whether to skip plt.show()",
+    )
 
     args = parser.parse_args()
 

common/autoware_debug_tools/autoware_debug_tools/system_usage_monitor.py

@@ -44,13 +44,32 @@ def get_system_usage(pid, system_usages, interval):
         )
         if component == "":
             component = "others"
-        container = process_name.split("__node:=", 1)[1].split(" ")[0]
-        system_usages[pid] = {
-            "component": component,
-            "container": container,
-            "cpu_usage": cpu_usage,
-            "memory_usage": memory_usage,
-        }
+
+        elements = process_name.split("__node:=", 1)
+
+        # If `process_name`` can be split by "__node:=", get the container name from the second element.
+        # Otherwise, get the container name from the file name in the first element.
+        # An example of `process_name` is as follows:
+        # `/path/to/autoware/install/topic_state_monitor/lib/topic_state_monitor/topic_state_monitor_node
+        #     --ros-args -r __node:=topic_state_monitor_scenario_planning_trajectory -r __ns:=/system ...`
+        if len(elements) < 2:
+            container = process_name.split(" ")[0].split("/")[-1]
+            if container.startswith("autoware_"):
+                container = container.split("_", 1)[1]
+            system_usages[pid] = {
+                "component": component,
+                "container": container,
+                "cpu_usage": cpu_usage,
+                "memory_usage": memory_usage,
+            }
+        else:
+            container = elements[1].split(" ")[0]
+            system_usages[pid] = {
+                "component": component,
+                "container": container,
+                "cpu_usage": cpu_usage,
+                "memory_usage": memory_usage,
+            }
     except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess, IndexError):
         pass
 
@@ -128,7 +147,7 @@ def main(args=None):
     system_usages = {}
     while True:
         # create thread to calculate cpu usage of each process since it takes time
-        process_name_keyword = "__node:="
+        process_name_keyword = "--ros-args"
         threads = []
         for proc in psutil.process_iter(["pid", "name", "cpu_percent", "cmdline"]):
             try:

common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/__init__.py

@@ -0,0 +1,5 @@
+from .launch_tree import LaunchTree  # noqa
+from .launch_tree import LaunchTreeNode  # noqa
+from .main import launch_file_analyse_main  # noqa
+from .string_utils import find_cmake_projects  # noqa
+from .string_utils import find_package  # noqa

common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_tree.py

@@ -0,0 +1,83 @@
+import json
+from typing import List
+
+
+class LaunchTreeNode:
+    """Each node in the launch tree is a LaunchTreeNode. It represents a launch file or a ros node."""
+
+    def __init__(self, name: str, **kwargs):
+        self.name = name
+        self.children: List[LaunchTreeNode] = []
+        self.parameters = kwargs
+
+    def add_child(self, child: "LaunchTreeNode"):
+        self.children.append(child)
+
+    def jsonify(self):
+        return {
+            "name": self.name,
+            "children": [child.jsonify() for child in self.children],
+            "parameters": self.parameters,
+        }
+
+
+class LaunchTree:
+    """Tree Structure to store the launch file structure."""
+
+    def __init__(self):
+        self.root = None
+        self.edges_manager = []
+        self.nodes_manager = {}
+
+    def get_node(self, node_name):
+        return self.nodes_manager[node_name]
+
+    def add_root(self, root_name, **kwargs):
+        if self.root is None:
+            self.root = LaunchTreeNode(root_name)
+            self.nodes_manager[root_name] = self.root
+        else:
+            print("Root already exists")
+
+    def add_child(self, parent_name, child_name, **kwargs):
+        if self.root is None:
+            self.root = LaunchTreeNode(parent_name)
+            self.nodes_manager[parent_name] = self.root
+
+        if parent_name not in self.nodes_manager:
+            # print(f"Parent node {parent_name} not found")
+            return
+
+        if child_name in self.nodes_manager:
+            # print(f"Child node {child_name} already exists")
+            return
+
+        child = LaunchTreeNode(child_name, **kwargs)
+        self.nodes_manager[child_name] = child
+        self.nodes_manager[parent_name].add_child(child)
+        self.edges_manager.append((parent_name, child_name))
+
+    def add_argument(self, node_name, argument_name, argument_value):
+        if node_name not in self.nodes_manager:
+            print(f"Node {node_name} not found")
+            return
+
+        self.nodes_manager[node_name].arguments[argument_name] = argument_value
+
+    def jsonify(self):
+        json_object = self.root.jsonify()
+        return json_object
+
+    def __repr__(self) -> str:
+        json_object = self.jsonify()
+        return json.dumps(json_object, indent=4)
+
+
+def find_unset_parameters(tree: LaunchTree):
+    """Find all unset parameters in the launch tree."""
+    unset_parameters = []
+    for node_name, node in tree.nodes_manager.items():
+        for parameter_name, parameter_value in node.parameters.items():
+            if parameter_value == "ERROR_PARAMETER_NOT_SET":
+                unset_parameters.append((node_name, parameter_name))
+    return unset_parameters