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Merge branch 'main' into feat/trajectory_inside_circle_and_lanelet2_t…
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…rajectory
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@YoshihiroKogure
YoshihiroKogure authored Dec 2, 2024
2 parents ffd36b1 + a7c02c8 commit 50f46bd
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Validating CODEOWNERS rules …
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@@ -1,7 +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/autoware_debug_tools/** [email protected] [email protected] satoshi.ota@tier4.jp shintaro.sakoda@tier4.jp [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]
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5 changes: 3 additions & 2 deletions ...re_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py
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@@ -1,5 +1,6 @@
#!/usr/bin/env python3

from tier4_debug_msgs.msg import Float32Stamped
from tier4_debug_msgs.msg import Float64Stamped

from .system_performance_plotter_base import PREDEFINED_COMPONENT_NAMES
Expand All @@ -11,7 +12,7 @@ class ProcessingTimePlotter(SystemPerformancePlotterBase):
def check_topic(self, topic_name):
if self.grep_topic_name is not None and self.grep_topic_name not in topic_name:
return False
if "/processing_time_ms" not in topic_name:
if "/processing_time_ms" not in topic_name and "/exe_time_ms" not in topic_name:
return False

if self.component_name == "all":
Expand All @@ -29,7 +30,7 @@ def check_topic(self, topic_name):
return True

def update_metrics_func(self, topic_name, data, date_time):
if not isinstance(data, Float64Stamped):
if not isinstance(data, Float64Stamped) and not isinstance(data, Float32Stamped):
return

if topic_name not in self.stamp_and_metrics:
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2 changes: 2 additions & 0 deletions common/autoware_debug_tools/package.xml
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Expand Up @@ -7,6 +7,8 @@
<maintainer email="[email protected]">Yukinari Hisaki</maintainer>
<maintainer email="[email protected]">Satoshi Ota</maintainer>
<maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
<maintainer email="[email protected]">Shintaro Sakoda</maintainer>
<maintainer email="[email protected]">Fumiya Watanabe</maintainer>

<license>Apache License 2.0</license>

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7 changes: 5 additions & 2 deletions map/autoware_lanelet2_map_validator/CMakeLists.txt
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Expand Up @@ -58,8 +58,11 @@ if(BUILD_TESTING)
)
endfunction()

add_validation_test(missing_regulatory_elements)
add_validation_test(regulatory_element_details)
add_validation_test(missing_regulatory_elements_for_stop_lines)
add_validation_test(missing_regulatory_elements_for_crosswalks)
add_validation_test(missing_regulatory_elements_for_traffic_lights)
add_validation_test(regulatory_elements_details_for_crosswalks)
add_validation_test(regulatory_elements_details_for_traffic_lights)
endif()

ament_auto_package(
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6 changes: 3 additions & 3 deletions ...elet2_map_validator/docs/crosswalk/missing_regulatory_elements_for_crosswalk.md
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Expand Up @@ -11,9 +11,9 @@ Required information for a crosswalk is written in the [Autoware documentation](

The output issue marks "lanelet" as the **primitive**, and the lanelet ID is written together as **ID**.

| Message | Severity | Description | Approach |
| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- |
| "No regulatory element refers to this crosswalk." | Error | There is a `crosswalk` subtype lanelet that hasn't been referred to any regulatory element. | Create a `crosswalk` subtype regulatory element and refer to the crosswalk lanelet. |
| Issue Code | Message | Severity | Description | Approach |
| --------------------------------------- | ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- |
| Crosswalk.MissingRegulatoryElements-001 | "No regulatory element refers to this crosswalk." | Error | There is a `crosswalk` subtype lanelet that hasn't been referred to any regulatory element. | Create a `crosswalk` subtype regulatory element and refer to the crosswalk lanelet. |

## Related source codes

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20 changes: 10 additions & 10 deletions ...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md
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Expand Up @@ -12,16 +12,16 @@ This validator checks eight types of issues.

The output issue marks "lanelet", "linestring" or "regulatory_element" as the **primitive**, and the regulatory element ID is written together as **ID**.

| Message | Severity | Primitive | Description | Approach |
| ---------------------------------------------------------------------------------------- | -------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| "Refers of crosswalk regulatory element must have type of crosswalk." | Error | lanelet | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet. | Check that the `refers` is a `crosswalk` subtype lanelet |
| "ref_line of crosswalk regulatory element must have type of stopline." | Error | linestring | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring. | Check that the `ref_line` is a `stop_line` type linestring |
| "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon." | Error | polygon | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area. |
| "Regulatory element of crosswalk must have lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has no `refers`es. | Write `refers` referring to a `crosswalk` subtype lanelet in the regulatory element |
| "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `refers`es. | A `crosswalk` subtype regulatory element can have only one `refers`. Remove the `refers` that is not a crosswalk lanelet. |
| "Regulatory element of crosswalk does not have stop line(ref_line)." | Info | regulatory element | There is a `crosswalk` subtype regulatory element that has no `ref_line`s | Generally, there should be a stop line for the crosswalk. Be sure that the stop line exists or doesn't. |
| "Regulatory element of crosswalk is nice to have crosswalk_polygon." | Warning | regulatory element | There is a `crosswalk` subtype regulatory element that has no `crosswalk_polygon`s. | It is recommended to surround a crosswalk with a `crosswalk_polygon`. Create one and add a `crosswalk_polygon` role member to the regulatory element with the polygon ID. |
| "Regulatory element of crosswalk must have only one crosswalk_polygon." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `crosswalk_polygon`s. | Only one `crosswalk_polygon` is allowed per polygon. Remove the unnecessary ones. |
| Issue Code | Message | Severity | Primitive | Description | Approach |
| -------------------------------------- | ---------------------------------------------------------------------------------------- | -------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Crosswalk.RegulatoryElementDetails-001 | "Regulatory element of crosswalk must have lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has no `refers`es. | Write `refers` referring to a `crosswalk` subtype lanelet in the regulatory element |
| Crosswalk.RegulatoryElementDetails-002 | "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `refers`es. | A `crosswalk` subtype regulatory element can have only one `refers`. Remove the `refers` that is not a crosswalk lanelet. |
| Crosswalk.RegulatoryElementDetails-003 | "Regulatory element of crosswalk does not have stop line(ref_line)." | Info | regulatory element | There is a `crosswalk` subtype regulatory element that has no `ref_line`s | Generally, there should be a stop line for the crosswalk. Be sure that the stop line exists or doesn't. |
| Crosswalk.RegulatoryElementDetails-004 | "Regulatory element of crosswalk is nice to have crosswalk_polygon." | Warning | regulatory element | There is a `crosswalk` subtype regulatory element that has no `crosswalk_polygon`s. | It is recommended to surround a crosswalk with a `crosswalk_polygon`. Create one and add a `crosswalk_polygon` role member to the regulatory element with the polygon ID. |
| Crosswalk.RegulatoryElementDetails-005 | "Regulatory element of crosswalk must have only one crosswalk_polygon." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `crosswalk_polygon`s. | Only one `crosswalk_polygon` is allowed per crosswalk. Remove the unnecessary ones. |
| Crosswalk.RegulatoryElementDetails-006 | "Refers of crosswalk regulatory element must have type of crosswalk." | Error | lanelet | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet. | Check that the `refers` is a `crosswalk` subtype lanelet |
| Crosswalk.RegulatoryElementDetails-007 | "ref_line of crosswalk regulatory element must have type of stopline." | Error | linestring | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring. | Check that the `ref_line` is a `stop_line` type linestring |
| Crosswalk.RegulatoryElementDetails-008 | "Crosswalk polygon of crosswalk regulatory element must have type of crosswalk_polygon." | Error | polygon | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area. |

## Related source codes

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6 changes: 3 additions & 3 deletions ...let2_map_validator/docs/stop_line/missing_regulatory_elements_for_stop_lines.md
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Expand Up @@ -11,9 +11,9 @@ Required information for a stop line is written in the [Autoware documentation](

The output issue marks "linestring" as the **primitive**, and the linestring ID is written together as **ID**.

| Message | Severity | Description | Approach |
| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ---------------------------------------------------------- |
| "No regulatory element refers to this stop line." | Error | There is a `stop_line` type linestring that hasn't been referred to any regulatory element. | Create a regulatory element that refers to this stop line. |
| Issue Code | Message | Severity | Description | Approach |
| -------------------------------------- | ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ---------------------------------------------------------- |
| StopLine.MissingRegulatoryElements-001 | "No regulatory element refers to this stop line." | Error | There is a `stop_line` type linestring that hasn't been referred to any regulatory element. | Create a regulatory element that refers to this stop line. |

## Related source codes

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6 changes: 3 additions & 3 deletions ..._validator/docs/traffic_light/missing_regulatory_elements_for_traffic_lights.md
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Expand Up @@ -11,9 +11,9 @@ Required information for traffic lights is written in the [Autoware documentatio

The output issue marks "linestring" as the **primitive**, and the linestring ID is written together as **ID**.

| Message | Severity | Description | Approach |
| ----------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
| "No regulatory element refers to this traffic light." | Error | There is a `traffic_light` type linestring that hasn't been referred to any regulatory element. | Create a `traffic_light` subtype regulatory element that refers to this linestring |
| Issue Code | Message | Severity | Description | Approach |
| ------------------------------------------ | ----------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
| TrafficLight.MissingRegulatoryElements-001 | "No regulatory element refers to this traffic light." | Error | There is a `traffic_light` type linestring that hasn't been referred to any regulatory element. | Create a `traffic_light` subtype regulatory element that refers to this linestring |

## Related source codes

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