From 85a88fe5775fd7e63f69867ad6fc30e321406805 Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Tue, 17 Dec 2024 18:49:11 +0900 Subject: [PATCH 1/4] feat(lanelet2_map_validator): check whether intersection_area satisfies vm-03-08 (#171) * Create the framework for intersection_area_validity. Signed-off-by: TaikiYamada4 * Made is_valid checker in intersection_area_validity Signed-off-by: TaikiYamada4 * Split and create a new validator intersection_area_segement_type. Signed-off-by: TaikiYamada4 * Completed intersection_area_segment_type Signed-off-by: TaikiYamada4 * Added `vm-03-08` to autoware_requirement_set.json Signed-off-by: TaikiYamada4 * Added `vm-03-08` to autoware_requirement_set.json Signed-off-by: TaikiYamada4 * Added documents for intersection_area validators Signed-off-by: TaikiYamada4 * Added `intersection_area` type polygons to sample_map.osm Signed-off-by: TaikiYamada4 * Added test codes Signed-off-by: TaikiYamada4 * Fixed spelling error Signed-off-by: TaikiYamada4 * Removed original bbox calculation and use the one in the Lanelet2 library Signed-off-by: TaikiYamada4 * Added explanation of functions Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 --- .../CMakeLists.txt | 2 + map/autoware_lanelet2_map_validator/README.md | 2 +- .../autoware_requirement_set.json | 11 + .../intersection_area_segment_type.md | 31 + .../intersection_area_validity.md | 20 + .../intersection_area_segment_type.hpp | 67 + .../intersection_area_validity.hpp | 37 + .../intersection_area_segment_type.cpp | 152 + .../intersection_area_validity.cpp | 73 + .../intersection/basic_intersection_area.osm | 2985 ++++++++++++++++ ...ntersection_area_with_irrelative_point.osm | 2992 +++++++++++++++++ ...tersection_area_with_self_intersection.osm | 2986 ++++++++++++++++ ...ection_area_with_wrong_linestring_type.osm | 2986 ++++++++++++++++ ...tersection_area_with_wrong_orientation.osm | 2985 ++++++++++++++++ .../test/data/map/sample_map.osm | 1562 ++++++++- .../test_intersection_area_segment_type.cpp | 93 + .../src/test_intersection_area_validity.cpp | 93 + 17 files changed, 16985 insertions(+), 92 deletions(-) create mode 100644 map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md create mode 100644 map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md create mode 100644 map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp create mode 100644 map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp create mode 100644 map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp create mode 100644 map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp create mode 100644 map/autoware_lanelet2_map_validator/test/data/map/intersection/basic_intersection_area.osm create mode 100644 map/autoware_lanelet2_map_validator/test/data/map/intersection/intersection_area_with_irrelative_point.osm create mode 100644 map/autoware_lanelet2_map_validator/test/data/map/intersection/intersection_area_with_self_intersection.osm create mode 100644 map/autoware_lanelet2_map_validator/test/data/map/intersection/intersection_area_with_wrong_linestring_type.osm create mode 100644 map/autoware_lanelet2_map_validator/test/data/map/intersection/intersection_area_with_wrong_orientation.osm create mode 100644 map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp create mode 100644 map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt index 339c3a38..691821ee 100644 --- a/map/autoware_lanelet2_map_validator/CMakeLists.txt +++ b/map/autoware_lanelet2_map_validator/CMakeLists.txt @@ -65,6 +65,8 @@ if(BUILD_TESTING) add_validation_test(regulatory_elements_details_for_traffic_lights) add_validation_test(traffic_light_facing) add_validation_test(missing_referrers_for_traffic_lights) + add_validation_test(intersection_area_validity) + add_validation_test(intersection_area_segment_type) endif() ament_auto_package( diff --git a/map/autoware_lanelet2_map_validator/README.md b/map/autoware_lanelet2_map_validator/README.md index 159138c2..e78ff02a 100644 --- a/map/autoware_lanelet2_map_validator/README.md +++ b/map/autoware_lanelet2_map_validator/README.md @@ -326,7 +326,7 @@ The "Validators" column will be blank if it hasn't be implemented. | vm-03-05 | Lanelet division in the intersection | | | vm-03-06 | Guide lines in the intersection | | | vm-03-07 | Multiple lanelets in the intersection | | -| vm-03-08 | Intersection Area range | | +| vm-03-08 | Intersection Area range | [mapping.intersection.intersection_area_validity](./docs/intersection/intersection_area_validity.md), [mapping.intersection.intersection_area_segment_type](./docs/intersection/intersection_area_segment_type.md) | | vm-03-09 | Range of Lanelet in the intersection | | | vm-03-10 | Right of way (with signal) | | | vm-03-11 | Right of way (without signal) | | diff --git a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json index 917993cb..74185b48 100644 --- a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json +++ b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json @@ -8,6 +8,17 @@ } ] }, + { + "id": "vm-03-08", + "validators": [ + { + "name": "mapping.intersection.intersection_area_validity" + }, + { + "name": "mapping.intersection.intersection_area_segment_type" + } + ] + }, { "id": "vm-04-01", "validators": [ diff --git a/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md b/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md new file mode 100644 index 00000000..980a2607 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md @@ -0,0 +1,31 @@ +# intersection_area_segment_type + +## Validator name + +mapping.intersection.intersection_area_segment_type + +## Feature + +This validator check whether each `intersection_area` type polygon is made from points that belong to `road_border` type linestrings or the starting/ending edge of a lanelet. + +This is achieved by the following procedure. + +1. Create a 2D bounding box that circumscribes the polygon. +2. Collect `road_border` type linestrings within or intersecting the 2D bounding box. +3. Collect starting/ending edges of lanelets within or intersecting the 2D bounding box. +4. Examine each point that constitutes the polygon whether it belongs to the collection above. + +The validator outputs the following issue with the corresponding ID of the primitive. + +| Issue Code | Message | Severity | Primitive | Description | Approach | +| -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------- | -------- | --------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- | +| Intersection.IntersectionAreaSegmentType-001 | "This intersection area is not made by points from road_border linestrings or lanelet edges. (Point ID: \)" | Error | Polygon | The `intersection_area` polygon has points that doesn't belong to `road_border` type linestrings or lanelet edges. The violating points are listed up at \. | Ensure that the `intersection_area` is formed ONLY by `road_border` linestrings and lanelet edges. | + +### Supplementary information + +Note that this validator only examines what type of linestring the points constituting the polygon belongs to, and doesn't examine they have a valid connection. Use the `mapping.intersection.intersection_area_validity` to check whether the polygon is `boost::geometry::is_valid()`. + +## Related source codes + +- intersection_area_segment_type.hpp +- intersection_area_segment_type.cpp diff --git a/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md b/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md new file mode 100644 index 00000000..fd0eb7fe --- /dev/null +++ b/map/autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md @@ -0,0 +1,20 @@ +# intersection_area_validity + +## Validator name + +mapping.intersection.intersection_area_validity + +## Feature + +This validator check whether each `intersection_area` type polygon satisfies [`boost::geometry::is_valid`](https://www.boost.io/doc/libs/1_86_0/libs/geometry/doc/html/geometry/reference/algorithms/is_valid/is_valid_2_with_message.html). + +The validator outputs the following issue with the corresponding ID of the primitive. + +| Issue Code | Message | Severity | Primitive | Description | Approach | +| ----------------------------------------- | --------------------------------------------------------------------------------------- | -------- | --------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| Intersection.IntersectionAreaValidity-001 | "This intersection_area doesn't satisfy boost::geometry::is_valid (reason: \) | Error | Polygon | The `intersection_area` polygon didn't satisfy `boost::geometry::is_valid`. | There are several reasons expected and it is written in "(reason: \)". The \ is a copy of [the output message defined in the `boost::geometry` library](https://www.boost.org/doc/libs/1_86_0/boost/geometry/policies/is_valid/failing_reason_policy.hpp). | + +## Related source codes + +- intersection_area_validity.hpp +- intersection_area_validity.cpp diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp new file mode 100644 index 00000000..cd563d43 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp @@ -0,0 +1,67 @@ +// Copyright 2024 Autoware Foundation +// +// 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 LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_ // NOLINT +#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_ // NOLINT + +#include +#include + +#include +#include + +namespace lanelet::autoware::validation +{ +class IntersectionAreaSegmentTypeValidator : public lanelet::validation::MapValidator +{ +public: + constexpr static const char * name() + { + return "mapping.intersection.intersection_area_segment_type"; + } + + lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override; + +private: + /** + * @brief The main validation process + * + * @param map + * @return lanelet::validation::Issues + */ + lanelet::validation::Issues check_intersection_area_segment_type(const lanelet::LaneletMap & map); + + /** + * @brief Create a submap consisting of road_border linestrings and lanelet edges only. + * + * @param map + * @param intersection_area + * @return lanelet::LaneletSubmapUPtr + */ + lanelet::LaneletSubmapUPtr create_nearby_borders_submap( + const lanelet::LaneletMap & map, const lanelet::ConstPolygon3d & intersection_area); + + /** + * @brief Create a list-up-string from Ids=vector + * + * @param ids + * @return std::string + */ + std::string ids_to_string(const lanelet::Ids ids); +}; +} // namespace lanelet::autoware::validation + +// clang-format off +#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_ // NOLINT +// clang-format on diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp new file mode 100644 index 00000000..708cefab --- /dev/null +++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp @@ -0,0 +1,37 @@ +// Copyright 2024 Autoware Foundation +// +// 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 LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_ // NOLINT +#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_ // NOLINT + +#include +#include + +namespace lanelet::autoware::validation +{ +class IntersectionAreaValidityValidator : public lanelet::validation::MapValidator +{ +public: + constexpr static const char * name() { return "mapping.intersection.intersection_area_validity"; } + + lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override; + +private: + lanelet::validation::Issues check_intersection_area_validity(const lanelet::LaneletMap & map); +}; +} // namespace lanelet::autoware::validation + +// clang-format off +#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_ // NOLINT +// clang-format on diff --git a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp new file mode 100644 index 00000000..60e0a179 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp @@ -0,0 +1,152 @@ +// Copyright 2024 Autoware Foundation +// +// 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. + +#include "lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp" + +#include "lanelet2_map_validator/utils.hpp" + +#include + +#include +#include +#include + +#include + +namespace lanelet::autoware::validation +{ +namespace +{ +lanelet::validation::RegisterMapValidator reg; +} + +lanelet::validation::Issues IntersectionAreaSegmentTypeValidator::operator()( + const lanelet::LaneletMap & map) +{ + lanelet::validation::Issues issues; + + lanelet::autoware::validation::appendIssues(issues, check_intersection_area_segment_type(map)); + + return issues; +} + +lanelet::validation::Issues +IntersectionAreaSegmentTypeValidator::check_intersection_area_segment_type( + const lanelet::LaneletMap & map) +{ + lanelet::validation::Issues issues; + + for (const lanelet::ConstPolygon3d & polygon3d : map.polygonLayer) { + if ( + !polygon3d.hasAttribute(lanelet::AttributeName::Type) || + polygon3d.attribute(lanelet::AttributeName::Type).value() != "intersection_area") { + continue; + } + + const auto borders_submap = create_nearby_borders_submap(map, polygon3d); + lanelet::Ids invalid_point_ids = {}; + for (const lanelet::ConstPoint3d & point : polygon3d) { + lanelet::LineStrings3d search_results = borders_submap->lineStringLayer.findUsages(point); + if (search_results.empty()) { + invalid_point_ids.push_back(point.id()); + } + } + if (!invalid_point_ids.empty()) { + issues.emplace_back( + lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon, + polygon3d.id(), + append_issue_code_prefix( + this->name(), 1, + "This intersection area is not made by points from road_border linestrings or lanelet " + "edges. (Point ID: " + + ids_to_string(invalid_point_ids) + ")")); + } + } + + return issues; +} + +lanelet::LaneletSubmapUPtr IntersectionAreaSegmentTypeValidator::create_nearby_borders_submap( + const lanelet::LaneletMap & map, const lanelet::ConstPolygon3d & intersection_area) +{ + lanelet::BoundingBox2d bbox2d = + lanelet::geometry::boundingBox2d(lanelet::traits::toBasicPolygon2d(intersection_area)); + + lanelet::ConstLanelets nearby_lanelets = map.laneletLayer.search(bbox2d); + lanelet::ConstLineStrings3d nearby_linestrings = map.lineStringLayer.search(bbox2d); + + lanelet::LineStrings3d nearby_borders; + + // Collect lanelet edges intersecting the intersection area + for (const auto & lanelet : nearby_lanelets) { + if ( + !lanelet.hasAttribute(lanelet::AttributeName::Subtype) || + lanelet.attribute(lanelet::AttributeName::Subtype).value() != + lanelet::AttributeValueString::Road) { + continue; + } + + if (bbox2d.contains(lanelet.leftBound2d().front().basicPoint2d())) { + lanelet::Point3d left_point(lanelet.leftBound().front()); + lanelet::Point3d right_point(lanelet.rightBound().front()); + + lanelet::AttributeMap attribute; + attribute["type"] = "lanelet_edge"; // An instant linestring type for this code + + lanelet::LineString3d lanelet_front_edge( + lanelet::utils::getId(), {left_point, right_point}, attribute); + nearby_borders.push_back(lanelet_front_edge); + } + + if (bbox2d.contains(lanelet.leftBound2d().back().basicPoint2d())) { + lanelet::Point3d left_point(lanelet.leftBound().back()); + lanelet::Point3d right_point(lanelet.rightBound().back()); + + lanelet::AttributeMap attribute; + attribute["type"] = "lanelet_edge"; // An instant linestring type for this code + + lanelet::LineString3d lanelet_back_edge( + lanelet::utils::getId(), {left_point, right_point}, attribute); + nearby_borders.push_back(lanelet_back_edge); + } + } + + // Collect road_border subtype linestrings + for (const auto & linestring : nearby_linestrings) { + if ( + linestring.hasAttribute(lanelet::AttributeName::Type) && + linestring.attribute(lanelet::AttributeName::Type).value() == + lanelet::AttributeValueString::RoadBorder) { + auto data = std::const_pointer_cast(linestring.constData()); + nearby_borders.push_back(lanelet::LineString3d(data, linestring.inverted())); + } + } + + return lanelet::utils::createSubmap(nearby_borders); +} + +std::string IntersectionAreaSegmentTypeValidator::ids_to_string(const lanelet::Ids ids) +{ + std::string result = "("; + for (size_t i = 0; i < ids.size(); i++) { + result += std::to_string(ids[i]); + if (i < ids.size() - 1) { + result += ", "; + } + } + result += ")"; + return result; +} + +} // namespace lanelet::autoware::validation diff --git a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp new file mode 100644 index 00000000..2a0a2893 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp @@ -0,0 +1,73 @@ +// Copyright 2024 Autoware Foundation +// +// 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. + +#include "lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp" + +#include "lanelet2_map_validator/utils.hpp" + +#include + +#include +#include +#include + +#include + +namespace lanelet::autoware::validation +{ +namespace +{ +lanelet::validation::RegisterMapValidator reg; +} + +lanelet::validation::Issues IntersectionAreaValidityValidator::operator()( + const lanelet::LaneletMap & map) +{ + lanelet::validation::Issues issues; + + lanelet::autoware::validation::appendIssues(issues, check_intersection_area_validity(map)); + + return issues; +} + +lanelet::validation::Issues IntersectionAreaValidityValidator::check_intersection_area_validity( + const lanelet::LaneletMap & map) +{ + lanelet::validation::Issues issues; + + for (const lanelet::ConstPolygon3d & polygon3d : map.polygonLayer) { + if ( + !polygon3d.hasAttribute(lanelet::AttributeName::Type) || + polygon3d.attribute(lanelet::AttributeName::Type).value() != "intersection_area") { + continue; + } + + lanelet::BasicPolygon2d basic_polygon2d = lanelet::traits::to2D(polygon3d.basicPolygon()); + + std::string reason; + bool polygon_is_valid = boost::geometry::is_valid(basic_polygon2d, reason); + if (!polygon_is_valid) { + issues.emplace_back( + lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon, + polygon3d.id(), + append_issue_code_prefix( + this->name(), 1, + "This intersection_area doesn't satisfy boost::geometry::is_valid (reason: " + reason + + ").")); + } + } + + return issues; +} +} // namespace lanelet::autoware::validation diff --git a/map/autoware_lanelet2_map_validator/test/data/map/intersection/basic_intersection_area.osm b/map/autoware_lanelet2_map_validator/test/data/map/intersection/basic_intersection_area.osm new file mode 100644 index 00000000..b5122a94 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/test/data/map/intersection/basic_intersection_area.osm @@ -0,0 +1,2985 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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- @@ -4653,11 +5557,6 @@ - - - - - @@ -5090,12 +5989,6 @@ - - - - - - @@ -5243,12 +6136,6 @@ - - - - - - @@ -5283,6 +6170,316 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -5291,6 +6488,162 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -5786,15 +7139,6 @@ - - - - - - - - - @@ -5822,6 +7166,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -5891,7 +7271,7 @@ - + diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp new file mode 100644 index 00000000..df72f1b8 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp @@ -0,0 +1,93 @@ +// Copyright 2024 Autoware Foundation +// +// 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. + +#include "lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp" +#include "map_validation_tester.hpp" + +#include +#include + +class TestIntersectionAreaSegmentType : public MapValidationTester +{ +private: +}; + +TEST_F(TestIntersectionAreaSegmentType, ValidatorAvailability) // NOLINT for gtest +{ + std::string expected_validator_name = + lanelet::autoware::validation::IntersectionAreaSegmentTypeValidator::name(); + + lanelet::validation::Strings validators = + lanelet::validation::availabeChecks(expected_validator_name); // cspell:disable-line + + const uint32_t expected_validator_num = 1; + EXPECT_EQ(expected_validator_num, validators.size()); + EXPECT_EQ(expected_validator_name, validators[0]); +} + +TEST_F(TestIntersectionAreaSegmentType, CheckIrrelativePoint) // NOLINT for gtest +{ + load_target_map("intersection/intersection_area_with_irrelative_point.osm"); + + lanelet::autoware::validation::IntersectionAreaSegmentTypeValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 1); + EXPECT_EQ(issues[0].id, 10803); + EXPECT_EQ(issues[0].severity, lanelet::validation::Severity::Error); + EXPECT_EQ(issues[0].primitive, lanelet::validation::Primitive::Polygon); + EXPECT_EQ( + issues[0].message, + "[Intersection.IntersectionAreaSegmentType-001] This intersection area is not made by points " + "from road_border linestrings or lanelet edges. (Point ID: (10804))"); +} + +TEST_F(TestIntersectionAreaSegmentType, CheckWrongLinestringType) // NOLINT for gtest +{ + load_target_map("intersection/intersection_area_with_wrong_linestring_type.osm"); + + lanelet::autoware::validation::IntersectionAreaSegmentTypeValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 1); + EXPECT_EQ(issues[0].id, 10803); + EXPECT_EQ(issues[0].severity, lanelet::validation::Severity::Error); + EXPECT_EQ(issues[0].primitive, lanelet::validation::Primitive::Polygon); + EXPECT_EQ( + issues[0].message, + "[Intersection.IntersectionAreaSegmentType-001] This intersection area is not made by points " + "from road_border linestrings or lanelet edges. (Point ID: (10756, 10757, 10758, 10759, 10760, " + "10761, 10762, 10763, 10764, 10765, 10766, 10767, 10768, 10769, 10770, 10771, 10772, 10773, " + "10774, 10775, 10776))"); +} + +TEST_F(TestIntersectionAreaSegmentType, ValidIntersectionArea) // NOLINT for gtest +{ + load_target_map("intersection/basic_intersection_area.osm"); + + lanelet::autoware::validation::IntersectionAreaSegmentTypeValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 0); +} + +TEST_F(TestIntersectionAreaSegmentType, SampleMap) // NOLINT for gtest +{ + load_target_map("sample_map.osm"); + + lanelet::autoware::validation::IntersectionAreaSegmentTypeValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 0); +} diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp new file mode 100644 index 00000000..faea5fd2 --- /dev/null +++ b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp @@ -0,0 +1,93 @@ +// Copyright 2024 Autoware Foundation +// +// 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. + +#include "lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp" +#include "map_validation_tester.hpp" + +#include +#include + +class TestIntersectionAreaValidity : public MapValidationTester +{ +private: +}; + +TEST_F(TestIntersectionAreaValidity, ValidatorAvailability) // NOLINT for gtest +{ + std::string expected_validator_name = + lanelet::autoware::validation::IntersectionAreaValidityValidator::name(); + + lanelet::validation::Strings validators = + lanelet::validation::availabeChecks(expected_validator_name); // cspell:disable-line + + const uint32_t expected_validator_num = 1; + EXPECT_EQ(expected_validator_num, validators.size()); + EXPECT_EQ(expected_validator_name, validators[0]); +} + +TEST_F(TestIntersectionAreaValidity, CheckWrongOrientation) // NOLINT for gtest +{ + load_target_map("intersection/intersection_area_with_wrong_orientation.osm"); + + lanelet::autoware::validation::IntersectionAreaValidityValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 1); + EXPECT_EQ(issues[0].id, 10803); + EXPECT_EQ(issues[0].severity, lanelet::validation::Severity::Error); + EXPECT_EQ(issues[0].primitive, lanelet::validation::Primitive::Polygon); + EXPECT_EQ( + issues[0].message, + "[Intersection.IntersectionAreaValidity-001] This intersection_area doesn't satisfy " + "boost::geometry::is_valid (reason: Geometry has wrong orientation)."); +} + +TEST_F(TestIntersectionAreaValidity, CheckSelfIntersection) // NOLINT for gtest +{ + load_target_map("intersection/intersection_area_with_self_intersection.osm"); + + lanelet::autoware::validation::IntersectionAreaValidityValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 1); + EXPECT_EQ(issues[0].id, 10803); + EXPECT_EQ(issues[0].severity, lanelet::validation::Severity::Error); + EXPECT_EQ(issues[0].primitive, lanelet::validation::Primitive::Polygon); + EXPECT_EQ( + issues[0].message, + "[Intersection.IntersectionAreaValidity-001] This intersection_area doesn't satisfy " + "boost::geometry::is_valid (reason: Geometry has invalid self-intersections. A " + "self-intersection point was found at (3757.52, 73751.8); method: i; operations: u/i; segment " + "IDs {source, multi, ring, segment}: {0, -1, -1, 21}/{0, -1, -1, 23})."); +} + +TEST_F(TestIntersectionAreaValidity, ValidIntersectionArea) // NOLINT for gtest +{ + load_target_map("intersection/basic_intersection_area.osm"); + + lanelet::autoware::validation::IntersectionAreaValidityValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 0); +} + +TEST_F(TestIntersectionAreaValidity, SampleMap) // NOLINT for gtest +{ + load_target_map("sample_map.osm"); + + lanelet::autoware::validation::IntersectionAreaValidityValidator checker; + const auto & issues = checker(*map_); + + EXPECT_EQ(issues.size(), 0); +} From 8fdae25e8d2edcb01d34975932d99667975acf9f Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 18 Dec 2024 00:24:15 +0300 Subject: [PATCH 2/4] chore: sync files (#11) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .clang-format | 4 + .github/ISSUE_TEMPLATE/bug.yaml | 4 + .github/ISSUE_TEMPLATE/config.yml | 4 + .github/ISSUE_TEMPLATE/task.yaml | 4 + .github/dependabot.yaml | 15 ++ .github/pull_request_template.md | 45 +----- .github/stale.yml | 4 + .../workflows/cancel-previous-workflows.yaml | 6 +- .github/workflows/comment-on-pr.yaml | 29 ++++ .github/workflows/delete-closed-pr-docs.yaml | 4 + .github/workflows/deploy-docs.yaml | 6 +- .github/workflows/github-release.yaml | 4 + .github/workflows/pre-commit-optional.yaml | 4 + .github/workflows/pre-commit.yaml | 6 +- .github/workflows/semantic-pull-request.yaml | 4 + .../workflows/spell-check-differential.yaml | 23 +++ .github/workflows/spell-check-partial.yaml | 18 --- .github/workflows/sync-files.yaml | 6 +- .gitignore | 2 + .markdownlint.yaml | 5 + .pre-commit-config-optional.yaml | 6 +- .pre-commit-config.yaml | 38 +++-- .prettierignore | 4 + .prettierrc.yaml | 4 + .yamllint.yaml | 4 + CODE_OF_CONDUCT.md | 132 ++++++++++++++++++ CPPLINT.cfg | 6 + .../launch_file_analyse/launch_xml_parser.py | 6 +- .../launch_file_analyse/string_utils.py | 6 +- .../src/rtc_manager_panel.cpp | 4 + .../src/automatic_goal_panel.cpp | 3 + .../src/automatic_goal_sender.cpp | 5 + .../float32_multi_array_stamped_pie_chart.cpp | 3 + .../logging_level_configure.hpp | 4 +- .../src/logging_level_configure.cpp | 6 + .../src/screen_capture_panel.cpp | 2 + .../src/target_object_type_panel.cpp | 3 + control_data_collecting_tool/README.md | 31 ++-- .../scripts/courses/reversal_loop_circle.py | 6 +- ...ecting_pure_pursuit_trajectory_follower.py | 6 +- .../src/data_collecting_area_selection.cpp | 2 + docs/assets/js/mathjax.js | 20 +++ driving_environment_analyzer/src/utils.cpp | 3 + .../src/metrics_visualize_panel.cpp | 2 + .../deviation_estimation_tools/ReadMe.md | 2 +- .../src/deviation_estimator_main.cpp | 7 + .../src/gyro_bias_module.cpp | 2 + .../deviation_estimator/src/logger.cpp | 2 + .../src/validation_module.cpp | 6 + .../test/test_gyro_bias.cpp | 1 + .../src/fix_lane_change_tags.cpp | 1 + .../src/fix_z_value_by_pcd.cpp | 2 + .../src/merge_close_lines.cpp | 1 + .../src/merge_close_points.cpp | 1 + .../src/remove_unreferenced_geometry.cpp | 1 + .../src/transform_maps.cpp | 1 + .../src/common/cli.cpp | 3 + .../src/common/map_loader.cpp | 5 + .../src/common/validation.cpp | 2 + .../src/main.cpp | 1 + .../intersection_area_segment_type.cpp | 1 + .../intersection_area_validity.cpp | 1 + ...ory_element_details_for_traffic_lights.cpp | 2 + .../test_intersection_area_segment_type.cpp | 2 + .../src/test_intersection_area_validity.cpp | 2 + ...t_missing_referrers_for_traffic_lights.cpp | 2 + ...ing_regulatory_elements_for_crosswalks.cpp | 2 + ...ing_regulatory_elements_for_stop_lines.cpp | 2 + ...regulatory_elements_for_traffic_lights.cpp | 2 + ...latory_elements_details_for_crosswalks.cpp | 2 + ...ry_elements_details_for_traffic_lights.cpp | 2 + .../test/src/test_traffic_light_facing.cpp | 1 + .../autoware/pointcloud_divider/utility.hpp | 1 + .../src/pcd_divider.cpp | 4 + .../src/pointcloud_divider_node.cpp | 2 + .../src/pcd_merger.cpp | 2 + .../src/pointcloud_merger_node.cpp | 2 + mkdocs.yaml | 10 +- .../config/behavior_analyzer.param.yaml | 4 +- .../src/data_structs.hpp | 4 +- .../src/node.cpp | 40 +++--- .../src/autoware_rtc_replayer_node.cpp | 3 + .../perception_replayer_common.py | 8 +- .../perception_reproducer.py | 6 +- .../src/trajectory_analyzer.cpp | 4 + setup.cfg | 4 + .../estimator_utils/estimator_base.hpp | 1 + .../src/time_delay_estimator.cpp | 1 + 88 files changed, 521 insertions(+), 137 deletions(-) create mode 100644 .github/dependabot.yaml create mode 100644 .github/workflows/comment-on-pr.yaml create mode 100644 .github/workflows/spell-check-differential.yaml delete mode 100644 .github/workflows/spell-check-partial.yaml create mode 100644 CODE_OF_CONDUCT.md create mode 100644 docs/assets/js/mathjax.js diff --git a/.clang-format b/.clang-format index b41fae91..cd54eb45 100644 --- a/.clang-format +++ b/.clang-format @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format Language: Cpp BasedOnStyle: Google diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a85799..5c74f7c5 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24..deccbf33 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f5..58307325 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 00000000..8e2d7193 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,15 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval + schedule: + interval: monthly + open-pull-requests-limit: 1 + labels: + - tag:bot + - type:github-actions diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 7aedefd0..4c4081a6 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,50 +1,11 @@ ## Description - - -## Related links - - - -## Tests performed - - +## How was this PR tested? ## Notes for reviewers - - -## Interface changes - - +None. ## Effects on system behavior - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. -- [ ] The PR has been properly tested. -- [ ] The PR has been reviewed by the code owners. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. -- [ ] The PR is ready for merge. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ +None. diff --git a/.github/stale.yml b/.github/stale.yml index bc99e438..ffce036c 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index 91b91556..ee79ce0e 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: @@ -8,7 +12,7 @@ jobs: runs-on: ubuntu-22.04 steps: - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.12.0 + uses: styfle/cancel-workflow-action@0.12.1 with: workflow_id: all all_but_latest: true diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml new file mode 100644 index 00000000..0f2ecf51 --- /dev/null +++ b/.github/workflows/comment-on-pr.yaml @@ -0,0 +1,29 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: comment-on-pr +on: + pull_request_target: + +jobs: + comment-on-pr: + runs-on: ubuntu-22.04 + permissions: + pull-requests: write + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Initial PR comment + uses: marocchino/sticky-pull-request-comment@v2 + with: + message: | + Thank you for contributing to the Autoware project! + + 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). + + Please ensure: + - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). + - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). + - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml index 192e138a..b8ff4f6d 100644 --- a/.github/workflows/delete-closed-pr-docs.yaml +++ b/.github/workflows/delete-closed-pr-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: delete-closed-pr-docs on: diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml index 771b4bd3..47009a25 100644 --- a/.github/workflows/deploy-docs.yaml +++ b/.github/workflows/deploy-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: deploy-docs on: @@ -22,7 +26,7 @@ jobs: prevent-no-label-execution: uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1 with: - label: tag:deploy-docs + label: run:deploy-docs deploy-docs: needs: prevent-no-label-execution diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 4b1d7f47..bbe2ac51 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 12f536c5..3d086702 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 13d069d9..15c8e86c 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: @@ -10,7 +14,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c22..b56040b0 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 00000000..e3af4327 --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,23 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-partial.yaml b/.github/workflows/spell-check-partial.yaml deleted file mode 100644 index b39c7241..00000000 --- a/.github/workflows/spell-check-partial.yaml +++ /dev/null @@ -1,18 +0,0 @@ -name: spell-check-partial - -on: - pull_request: - -jobs: - spell-check-partial: - runs-on: ubuntu-22.04 - steps: - - name: Check out repository - uses: actions/checkout@v3 - - - name: Run spell-check - uses: autowarefoundation/autoware-github-actions/spell-check@v1 - with: - cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json - local-cspell-json: .cspell-partial.json - incremental-files-only: false diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index c6926fb7..9224c150 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: @@ -18,7 +22,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} diff --git a/.gitignore b/.gitignore index 34187790..92424f92 100644 --- a/.gitignore +++ b/.gitignore @@ -3,3 +3,5 @@ # Visual Studio Code .vscode/ *.code-workspace + +/node_modules/ diff --git a/.markdownlint.yaml b/.markdownlint.yaml index babaaa1f..584154b2 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false @@ -7,5 +11,6 @@ MD029: style: ordered MD033: false MD041: false +MD045: false MD046: false MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 3b43f9ae..56000d93 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,10 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.11.2 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1e61f5e7..48a97c13 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,9 +1,17 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration ci: autofix_commit_msg: "style(pre-commit): autofix" + # we already have our own daily update mechanism, we set this to quarterly + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict @@ -18,23 +26,23 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.33.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.6 + rev: v4.0.0-alpha.8 hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.30.0 + rev: v1.35.1 hooks: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.9.0 + rev: v0.10.0 hooks: - id: flake8-ros - id: prettier-xacro @@ -44,42 +52,42 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.2 + rev: v0.10.0.1 hooks: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-2 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.12.0 + rev: 5.13.2 hooks: - id: isort - repo: https://github.com/psf/black - rev: 23.3.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v16.0.0 + rev: v19.1.5 hooks: - id: clang-format types_or: [c++, c, cuda] - repo: https://github.com/cpplint/cpplint - rev: 1.6.1 + rev: 2.0.0 hooks: - id: cpplint args: [--quiet] exclude: .cu - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.23.2 + rev: 0.30.0 hooks: - id: check-metaschema files: ^.+/schema/.*schema\.json$ @@ -93,3 +101,9 @@ repos: language: node files: .svg$ additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d00..3e96aace 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,6 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf327..fe476936 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088..e0be62db 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 00000000..8dbcfb85 --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,132 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our +community a harassment-free experience for everyone, regardless of age, body +size, visible or invisible disability, ethnicity, sex characteristics, gender +identity and expression, level of experience, education, socio-economic status, +nationality, personal appearance, race, caste, color, religion, or sexual +identity and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, +diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our +community include: + +- Demonstrating empathy and kindness toward other people +- Being respectful of differing opinions, viewpoints, and experiences +- Giving and gracefully accepting constructive feedback +- Accepting responsibility and apologizing to those affected by our mistakes, + and learning from the experience +- Focusing on what is best not just for us as individuals, but for the overall + community + +Examples of unacceptable behavior include: + +- The use of sexualized language or imagery, and sexual attention or advances of + any kind +- Trolling, insulting or derogatory comments, and personal or political attacks +- Public or private harassment +- Publishing others' private information, such as a physical or email address, + without their explicit permission +- Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of +acceptable behavior and will take appropriate and fair corrective action in +response to any behavior that they deem inappropriate, threatening, offensive, +or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject +comments, commits, code, wiki edits, issues, and other contributions that are +not aligned to this Code of Conduct, and will communicate reasons for moderation +decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when +an individual is officially representing the community in public spaces. +Examples of representing our community include using an official e-mail address, +posting via an official social media account, or acting as an appointed +representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported to the community leaders responsible for enforcement at +. +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the +reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining +the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed +unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing +clarity around the nature of the violation and an explanation of why the +behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series of +actions. + +**Consequence**: A warning with consequences for continued behavior. No +interaction with the people involved, including unsolicited interaction with +those enforcing the Code of Conduct, for a specified period of time. This +includes avoiding interactions in community spaces as well as external channels +like social media. Violating these terms may lead to a temporary or permanent +ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including +sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public +communication with the community for a specified period of time. No public or +private interaction with the people involved, including unsolicited interaction +with those enforcing the Code of Conduct, is allowed during this period. +Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community +standards, including sustained inappropriate behavior, harassment of an +individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within the +community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 2.1, available at +[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1]. + +Community Impact Guidelines were inspired by +[Mozilla's code of conduct enforcement ladder][mozilla coc]. + +For answers to common questions about this code of conduct, see the FAQ at +[https://www.contributor-covenant.org/faq][faq]. Translations are available at +[https://www.contributor-covenant.org/translations][translations]. + +[homepage]: https://www.contributor-covenant.org +[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html +[mozilla coc]: https://github.com/mozilla/diversity +[faq]: https://www.contributor-covenant.org/faq +[translations]: https://www.contributor-covenant.org/translations diff --git a/CPPLINT.cfg b/CPPLINT.cfg index ba6bdf08..159042db 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -1,12 +1,18 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 set noparent linelength=100 includeorder=standardcfirst filter=-build/c++11 # we do allow C++11 +filter=-build/c++17 # we allow filter=-build/namespaces_literals # we allow using namespace for literals filter=-runtime/references # we consider passing non-const references to be ok filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/newline # we allow the developer to decide about newline at the end of file (it's clashing with clang-format) filter=-whitespace/parens # we allow closing parenthesis to be on the next line filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit diff --git a/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_xml_parser.py b/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_xml_parser.py index fd253d94..695ab85f 100644 --- a/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_xml_parser.py +++ b/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_xml_parser.py @@ -223,9 +223,9 @@ def process_include_tag( local_context, base_namespace, ) - temp_context[ - name - ] = value # temp_context is used to pass arguments to the included file and updated on the fly for each argument + temp_context[name] = ( + value # temp_context is used to pass arguments to the included file and updated on the fly for each argument + ) for key in argument_dict: temp_context[key] = argument_dict[key] if included_file: diff --git a/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/string_utils.py b/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/string_utils.py index 1d2b7148..ec956508 100644 --- a/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/string_utils.py +++ b/common/autoware_debug_tools/autoware_debug_tools/topic_connection_checker/launch_file_analyse/string_utils.py @@ -22,9 +22,9 @@ def find_package(package_name) -> str: BASE_PROJECT_MAPPING[package_name] = get_package_share_directory(package_name) else: - BASE_PROJECT_MAPPING[ - package_name - ] = f"/opt/ros/humble/share/{package_name}" # use this for temporal solution; + BASE_PROJECT_MAPPING[package_name] = ( + f"/opt/ros/humble/share/{package_name}" # use this for temporal solution; + ) return BASE_PROJECT_MAPPING[package_name] diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp index 749819c0..a217ccef 100644 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp +++ b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp @@ -23,6 +23,10 @@ #include +#include +#include +#include + namespace rviz_plugins { inline std::string Bool2String(const bool var) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp index 86374ab4..e2232341 100644 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp @@ -18,6 +18,9 @@ #include +#include +#include + namespace rviz_plugins { AutowareAutomaticGoalPanel::AutowareAutomaticGoalPanel(QWidget * parent) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp index e6036672..a35cc5fb 100644 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp @@ -13,6 +13,11 @@ // limitations under the License. #include "automatic_goal_sender.hpp" +#include +#include +#include +#include + namespace automatic_goal { AutowareAutomaticGoalSender::AutowareAutomaticGoalSender() : Node("automatic_goal_sender") diff --git a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp index 0187cc3e..460a00a6 100644 --- a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp +++ b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp @@ -50,6 +50,9 @@ #include #include +#include +#include + namespace rviz_plugins { diff --git a/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp b/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp index 37d70b49..044966e3 100644 --- a/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp +++ b/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp @@ -51,9 +51,9 @@ struct LoggerNamespaceInfo }; class LoggingLevelConfigureRvizPlugin : public rviz_common::Panel { - Q_OBJECT // This macro is needed for Qt to handle slots and signals +Q_OBJECT // This macro is needed for Qt to handle slots and signals - public : LoggingLevelConfigureRvizPlugin(QWidget * parent = nullptr); + public : LoggingLevelConfigureRvizPlugin(QWidget * parent = nullptr); void onInitialize() override; void save(rviz_common::Config config) const override; void load(const rviz_common::Config & config) override; diff --git a/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp b/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp index 72ecf361..5186aafb 100644 --- a/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp +++ b/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp @@ -21,7 +21,13 @@ #include #include +#include #include +#include +#include +#include +#include +#include namespace rviz_plugin { diff --git a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp index e780678a..fa86fc34 100644 --- a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp +++ b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp @@ -17,8 +17,10 @@ #include #include +#include #include #include +#include namespace rviz_plugins { diff --git a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp index e0143079..51ba87ff 100644 --- a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp +++ b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include + TargetObjectTypePanel::TargetObjectTypePanel(QWidget * parent) : rviz_common::Panel(parent) { node_ = std::make_shared("matrix_display_node"); diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index 6a51a257..86cdedc6 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -234,21 +234,22 @@ ROS 2 parameters which are common in all trajectories (`/config/common_param.yam | `steer_rate_lim` | `double` | Steering angle rate limit [rad/s] | 0.6 | The following parameters are common to all trajectories but can be defined individually for each trajectory. (`/config/course_param/COURSE_NAME_param.yaml`): -| Name | Type | Description | Default value | -| :--------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------- | :------------- | -| `COLLECTING_DATA_V_MIN` | `double` | Minimum velocity for data collection [m/s] | 0.5 | -| `COLLECTING_DATA_V_MAX` | `double` | Maximum velocity for data collection [m/s] | 8.0 | -| `COLLECTING_DATA_A_MIN` | `double` | Minimum velocity for data collection [m/s^2] | 1.0 | -| `COLLECTING_DATA_A_MAX` | `double` | Maximum velocity for data collection [m/s^2] | -1.0 | -| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | -| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | -| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | -| `acc_noise_amp` | `double` | Accel command additional sine noise amplitude [m/ss] | 0.01 | -| `acc_noise_min_period` | `double` | Accel command additional sine noise minimum period [s] | 5.0 | -| `acc_noise_max_period` | `double` | Accel command additional sine noise maximum period [s] | 20.0 | -| `steer_noise_amp` | `double` | Steer command additional sine noise amplitude [rad] | 0.01 | -| `steer_noise_max_period` | `double` | Steer command additional sine noise maximum period [s] | 5.0 | -| `steer_noise_min_period` | `double` | Steer command additional sine noise minimum period [s] | 20.0 | + +| Name | Type | Description | Default value | +| :--------------------------------------- | :------- | :-------------------------------------------------------------------- | :------------ | +| `COLLECTING_DATA_V_MIN` | `double` | Minimum velocity for data collection [m/s] | 0.5 | +| `COLLECTING_DATA_V_MAX` | `double` | Maximum velocity for data collection [m/s] | 8.0 | +| `COLLECTING_DATA_A_MIN` | `double` | Minimum velocity for data collection [m/s^2] | 1.0 | +| `COLLECTING_DATA_A_MAX` | `double` | Maximum velocity for data collection [m/s^2] | -1.0 | +| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | +| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | +| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | +| `acc_noise_amp` | `double` | Accel command additional sine noise amplitude [m/ss] | 0.01 | +| `acc_noise_min_period` | `double` | Accel command additional sine noise minimum period [s] | 5.0 | +| `acc_noise_max_period` | `double` | Accel command additional sine noise maximum period [s] | 20.0 | +| `steer_noise_amp` | `double` | Steer command additional sine noise amplitude [rad] | 0.01 | +| `steer_noise_max_period` | `double` | Steer command additional sine noise maximum period [s] | 5.0 | +| `steer_noise_min_period` | `double` | Steer command additional sine noise minimum period [s] | 20.0 | ### Course-Specific Parameters diff --git a/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py b/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py index 2fb26d8e..a053c02f 100644 --- a/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py +++ b/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py @@ -818,9 +818,9 @@ def __init__(self, step: float, param_dict): self.trajectory_nearly_straight_clock_wise[self.steer_list[i]] = trajectory # Generate and store counterclockwise trajectories by reversing the clockwise trajectory. - self.trajectory_nearly_straight_counter_clock_wise[ - self.steer_list[i] - ] = reverse_trajectory_segment(trajectory) + self.trajectory_nearly_straight_counter_clock_wise[self.steer_list[i]] = ( + reverse_trajectory_segment(trajectory) + ) # Generate trajectories for changing directions (turning). diff --git a/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py b/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py index 57d01bdb..23c00e05 100755 --- a/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py +++ b/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py @@ -526,9 +526,9 @@ def control(self): # [2] publish cmd control_cmd_msg = AckermannControlCommand() - control_cmd_msg.stamp = ( - control_cmd_msg.lateral.stamp - ) = control_cmd_msg.longitudinal.stamp = (self.get_clock().now().to_msg()) + control_cmd_msg.stamp = control_cmd_msg.lateral.stamp = ( + control_cmd_msg.longitudinal.stamp + ) = (self.get_clock().now().to_msg()) control_cmd_msg.longitudinal.velocity = trajectory_longitudinal_velocity[nearestIndex] control_cmd_msg.longitudinal.acceleration = cmd[0] control_cmd_msg.lateral.steering_tire_angle = cmd[1] diff --git a/control_data_collecting_tool/src/data_collecting_area_selection.cpp b/control_data_collecting_tool/src/data_collecting_area_selection.cpp index 50d75c15..02dd3b4f 100644 --- a/control_data_collecting_tool/src/data_collecting_area_selection.cpp +++ b/control_data_collecting_tool/src/data_collecting_area_selection.cpp @@ -23,6 +23,8 @@ #include +#include + using std::placeholders::_1; namespace rviz_plugins diff --git a/docs/assets/js/mathjax.js b/docs/assets/js/mathjax.js new file mode 100644 index 00000000..adb184a8 --- /dev/null +++ b/docs/assets/js/mathjax.js @@ -0,0 +1,20 @@ +// This file is automatically synced from: +// https://github.com/autowarefoundation/sync-file-templates +// To make changes, update the source repository and follow the guidelines in its README. + +window.MathJax = { + tex: { + inlineMath: [["\\(", "\\)"]], + displayMath: [["\\[", "\\]"]], + processEscapes: true, + processEnvironments: true, + }, + options: { + ignoreHtmlClass: ".*|", + processHtmlClass: "arithmatex", + }, +}; + +document$.subscribe(() => { + MathJax.typesetPromise(); +}); diff --git a/driving_environment_analyzer/src/utils.cpp b/driving_environment_analyzer/src/utils.cpp index b895b960..2c735c41 100644 --- a/driving_environment_analyzer/src/utils.cpp +++ b/driving_environment_analyzer/src/utils.cpp @@ -23,8 +23,11 @@ #include +#include +#include #include #include +#include #include namespace driving_environment_analyzer::utils diff --git a/evaluation/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp b/evaluation/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp index 1104d26e..68cea462 100644 --- a/evaluation/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp +++ b/evaluation/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp @@ -21,8 +21,10 @@ #include #include +#include #include #include +#include #include namespace rviz_plugins diff --git a/localization/deviation_estimation_tools/ReadMe.md b/localization/deviation_estimation_tools/ReadMe.md index df26f2e2..5c1e4567 100644 --- a/localization/deviation_estimation_tools/ReadMe.md +++ b/localization/deviation_estimation_tools/ReadMe.md @@ -2,7 +2,7 @@ ## 1. Quick start -This repository consists of three main tools implemented on ROS2. +This repository consists of three main tools implemented on ROS 2. 1. Deviation Estimator 2. Deviation Evaluator diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp index f53a3c4e..59f7329e 100644 --- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp +++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp @@ -18,6 +18,13 @@ #include #include +#include +#include +#include +#include +#include +#include + int main(int argc, char ** argv) { if (argc != 2) { diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/gyro_bias_module.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/gyro_bias_module.cpp index 9c87709c..892021e2 100644 --- a/localization/deviation_estimation_tools/deviation_estimator/src/gyro_bias_module.cpp +++ b/localization/deviation_estimation_tools/deviation_estimator/src/gyro_bias_module.cpp @@ -17,6 +17,8 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "deviation_estimator/utils.hpp" +#include + /** * @brief update gyroscope bias based on a given trajectory data */ diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/logger.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/logger.cpp index e3d8d3fd..2c69e5a6 100644 --- a/localization/deviation_estimation_tools/deviation_estimator/src/logger.cpp +++ b/localization/deviation_estimation_tools/deviation_estimator/src/logger.cpp @@ -15,6 +15,8 @@ #include "deviation_estimator/logger.hpp" #include +#include +#include /** * @brief constructor for Logger class diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/validation_module.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/validation_module.cpp index 7c089bc7..d81ca400 100644 --- a/localization/deviation_estimation_tools/deviation_estimator/src/validation_module.cpp +++ b/localization/deviation_estimation_tools/deviation_estimator/src/validation_module.cpp @@ -14,6 +14,12 @@ #include "deviation_estimator/validation_module.hpp" +#include +#include +#include +#include +#include + /** * @brief ValidationModule validates if estimated parameters are properly converged, given a * predefined threshold in this constructor arguments diff --git a/localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_bias.cpp b/localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_bias.cpp index 5f9401a7..6637378e 100644 --- a/localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_bias.cpp +++ b/localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_bias.cpp @@ -18,6 +18,7 @@ #include #include +#include TEST(DeviationEstimatorGyroBias, SmokeTestDefault) { diff --git a/map/autoware_lanelet2_map_utils/src/fix_lane_change_tags.cpp b/map/autoware_lanelet2_map_utils/src/fix_lane_change_tags.cpp index be9ec44a..04170581 100644 --- a/map/autoware_lanelet2_map_utils/src/fix_lane_change_tags.cpp +++ b/map/autoware_lanelet2_map_utils/src/fix_lane_change_tags.cpp @@ -24,6 +24,7 @@ #include #include +#include #include #include diff --git a/map/autoware_lanelet2_map_utils/src/fix_z_value_by_pcd.cpp b/map/autoware_lanelet2_map_utils/src/fix_z_value_by_pcd.cpp index faedd513..31f11195 100644 --- a/map/autoware_lanelet2_map_utils/src/fix_z_value_by_pcd.cpp +++ b/map/autoware_lanelet2_map_utils/src/fix_z_value_by_pcd.cpp @@ -24,6 +24,8 @@ #include #include +#include +#include #include #include diff --git a/map/autoware_lanelet2_map_utils/src/merge_close_lines.cpp b/map/autoware_lanelet2_map_utils/src/merge_close_lines.cpp index e963ff88..1196453c 100644 --- a/map/autoware_lanelet2_map_utils/src/merge_close_lines.cpp +++ b/map/autoware_lanelet2_map_utils/src/merge_close_lines.cpp @@ -23,6 +23,7 @@ #include #include +#include #include #include diff --git a/map/autoware_lanelet2_map_utils/src/merge_close_points.cpp b/map/autoware_lanelet2_map_utils/src/merge_close_points.cpp index 46ced8a2..5d84d171 100644 --- a/map/autoware_lanelet2_map_utils/src/merge_close_points.cpp +++ b/map/autoware_lanelet2_map_utils/src/merge_close_points.cpp @@ -22,6 +22,7 @@ #include #include +#include #include #include diff --git a/map/autoware_lanelet2_map_utils/src/remove_unreferenced_geometry.cpp b/map/autoware_lanelet2_map_utils/src/remove_unreferenced_geometry.cpp index 9333afa3..cacb7527 100644 --- a/map/autoware_lanelet2_map_utils/src/remove_unreferenced_geometry.cpp +++ b/map/autoware_lanelet2_map_utils/src/remove_unreferenced_geometry.cpp @@ -22,6 +22,7 @@ #include #include +#include #include #include diff --git a/map/autoware_lanelet2_map_utils/src/transform_maps.cpp b/map/autoware_lanelet2_map_utils/src/transform_maps.cpp index 59f1ff3a..2d0ddd98 100644 --- a/map/autoware_lanelet2_map_utils/src/transform_maps.cpp +++ b/map/autoware_lanelet2_map_utils/src/transform_maps.cpp @@ -24,6 +24,7 @@ #include #include +#include #include #include diff --git a/map/autoware_lanelet2_map_validator/src/common/cli.cpp b/map/autoware_lanelet2_map_validator/src/common/cli.cpp index 6b130231..27658b9d 100644 --- a/map/autoware_lanelet2_map_validator/src/common/cli.cpp +++ b/map/autoware_lanelet2_map_validator/src/common/cli.cpp @@ -14,6 +14,9 @@ #include "lanelet2_map_validator/cli.hpp" +#include +#include + namespace po = boost::program_options; namespace lanelet::autoware::validation diff --git a/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp b/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp index 418a1e51..ba941b34 100644 --- a/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp +++ b/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp @@ -17,6 +17,11 @@ #include #include +#include +#include +#include +#include + namespace lanelet::autoware::validation { diff --git a/map/autoware_lanelet2_map_validator/src/common/validation.cpp b/map/autoware_lanelet2_map_validator/src/common/validation.cpp index f37d6e39..068ab60b 100644 --- a/map/autoware_lanelet2_map_validator/src/common/validation.cpp +++ b/map/autoware_lanelet2_map_validator/src/common/validation.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -26,6 +27,7 @@ #include #include #include +#include // ANSI color codes for console output #define BOLD_ONLY "\033[1m" diff --git a/map/autoware_lanelet2_map_validator/src/main.cpp b/map/autoware_lanelet2_map_validator/src/main.cpp index 66918b0d..a62c8fe7 100644 --- a/map/autoware_lanelet2_map_validator/src/main.cpp +++ b/map/autoware_lanelet2_map_validator/src/main.cpp @@ -22,6 +22,7 @@ #include #include #include +#include int main(int argc, char * argv[]) { diff --git a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp index 60e0a179..65573b7b 100644 --- a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp +++ b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace lanelet::autoware::validation { diff --git a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp index 2a0a2893..b19174f4 100644 --- a/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp +++ b/map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_validity.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace lanelet::autoware::validation { diff --git a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp index 4c536d03..a244ebbe 100644 --- a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp +++ b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp @@ -21,6 +21,8 @@ #include #include +#include + namespace lanelet::autoware::validation { namespace diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp index df72f1b8..c8395ea3 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestIntersectionAreaSegmentType : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp index faea5fd2..1228304b 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestIntersectionAreaValidity : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp index bf832aab..7d02dc64 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestMissingReferrersForTrafficLights : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp index 17ec1714..95ab9db6 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestMissingRegulatoryElementsForCrosswalks : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp index 006ac806..351115f0 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestMissingRegulatoryElementsForStopLines : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp index 3c3d2ae4..d72d4e76 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestMissingRegulatoryElementsForTrafficLights : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp b/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp index b49406fd..90bbf0f8 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestRegulatoryElementsDetailsForCrosswalks : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp index 046f063c..53278bf0 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp @@ -18,6 +18,8 @@ #include #include +#include + class TestRegulatoryElementDetailsForTrafficLights : public MapValidationTester { private: diff --git a/map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp b/map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp index ab3dbe05..16ec330d 100644 --- a/map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp +++ b/map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp @@ -19,6 +19,7 @@ #include #include +#include class TestTrafficLightFacing : public MapValidationTester { diff --git a/map/autoware_pointcloud_divider/include/autoware/pointcloud_divider/utility.hpp b/map/autoware_pointcloud_divider/include/autoware/pointcloud_divider/utility.hpp index 544ae4f9..e837f6d4 100644 --- a/map/autoware_pointcloud_divider/include/autoware/pointcloud_divider/utility.hpp +++ b/map/autoware_pointcloud_divider/include/autoware/pointcloud_divider/utility.hpp @@ -17,6 +17,7 @@ #include +#include #include #include #include diff --git a/map/autoware_pointcloud_divider/src/pcd_divider.cpp b/map/autoware_pointcloud_divider/src/pcd_divider.cpp index b4468d37..d7c9f5c9 100644 --- a/map/autoware_pointcloud_divider/src/pcd_divider.cpp +++ b/map/autoware_pointcloud_divider/src/pcd_divider.cpp @@ -49,7 +49,11 @@ #include #include +#include #include +#include +#include +#include namespace fs = std::filesystem; diff --git a/map/autoware_pointcloud_divider/src/pointcloud_divider_node.cpp b/map/autoware_pointcloud_divider/src/pointcloud_divider_node.cpp index 5ed7b0db..0adc937e 100644 --- a/map/autoware_pointcloud_divider/src/pointcloud_divider_node.cpp +++ b/map/autoware_pointcloud_divider/src/pointcloud_divider_node.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::pointcloud_divider { diff --git a/map/autoware_pointcloud_merger/src/pcd_merger.cpp b/map/autoware_pointcloud_merger/src/pcd_merger.cpp index bafaeca6..d4cf5869 100644 --- a/map/autoware_pointcloud_merger/src/pcd_merger.cpp +++ b/map/autoware_pointcloud_merger/src/pcd_merger.cpp @@ -50,6 +50,8 @@ #include #include +#include +#include namespace fs = std::filesystem; diff --git a/map/autoware_pointcloud_merger/src/pointcloud_merger_node.cpp b/map/autoware_pointcloud_merger/src/pointcloud_merger_node.cpp index fe849891..4a720703 100644 --- a/map/autoware_pointcloud_merger/src/pointcloud_merger_node.cpp +++ b/map/autoware_pointcloud_merger/src/pointcloud_merger_node.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::pointcloud_merger { diff --git a/mkdocs.yaml b/mkdocs.yaml index 9f868f28..97ff8c97 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -1,7 +1,11 @@ -site_name: Autoware Universe Documentation -site_url: https://autowarefoundation.github.io/autoware_tools +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +site_name: Autoware Tools Documentation +site_url: https://autowarefoundation.github.io/autoware-tools-documentation repo_url: https://github.com/autowarefoundation/autoware_tools -edit_uri: https://github.com/autowarefoundation/autoware_tools/edit/main/ +edit_uri: https://github.com/autowarefoundation/autoware-tools-documentation/edit/main/ docs_dir: . copyright: Copyright © 2023 The Autoware Foundation diff --git a/planning/autoware_planning_data_analyzer/config/behavior_analyzer.param.yaml b/planning/autoware_planning_data_analyzer/config/behavior_analyzer.param.yaml index dbd9e91c..42747198 100644 --- a/planning/autoware_planning_data_analyzer/config/behavior_analyzer.param.yaml +++ b/planning/autoware_planning_data_analyzer/config/behavior_analyzer.param.yaml @@ -17,9 +17,9 @@ efficiency: 1.0 safety: 1.0 - grid_seach: + grid_search: min: 0.1 max: 1.0 - resolusion: 0.2 + resolution: 0.2 dt: 1.0 thread_num: 8 diff --git a/planning/autoware_planning_data_analyzer/src/data_structs.hpp b/planning/autoware_planning_data_analyzer/src/data_structs.hpp index 53ff2b02..796c78dc 100644 --- a/planning/autoware_planning_data_analyzer/src/data_structs.hpp +++ b/planning/autoware_planning_data_analyzer/src/data_structs.hpp @@ -78,7 +78,7 @@ struct GridSearchParameters { double min{0.0}; double max{1.0}; - double resolusion{0.01}; + double resolution{0.01}; double dt{1.0}; size_t thread_num{4}; }; @@ -91,7 +91,7 @@ struct Parameters double w1{1.0}; double w2{1.0}; double w3{1.0}; - GridSearchParameters grid_seach{}; + GridSearchParameters grid_search{}; TargetStateParameters target_state{}; }; diff --git a/planning/autoware_planning_data_analyzer/src/node.cpp b/planning/autoware_planning_data_analyzer/src/node.cpp index fdab8f90..8c02d6dd 100644 --- a/planning/autoware_planning_data_analyzer/src/node.cpp +++ b/planning/autoware_planning_data_analyzer/src/node.cpp @@ -18,6 +18,12 @@ #include +#include +#include +#include +#include +#include + namespace autoware::behavior_analyzer { using autoware::universe_utils::createDefaultMarker; @@ -77,11 +83,11 @@ BehaviorAnalyzerNode::BehaviorAnalyzerNode(const rclcpp::NodeOptions & node_opti parameters_->w1 = declare_parameter("weight.lon_comfortability"); parameters_->w2 = declare_parameter("weight.efficiency"); parameters_->w3 = declare_parameter("weight.safety"); - parameters_->grid_seach.dt = declare_parameter("grid_seach.dt"); - parameters_->grid_seach.min = declare_parameter("grid_seach.min"); - parameters_->grid_seach.max = declare_parameter("grid_seach.max"); - parameters_->grid_seach.resolusion = declare_parameter("grid_seach.resolusion"); - parameters_->grid_seach.thread_num = declare_parameter("grid_seach.thread_num"); + parameters_->grid_search.dt = declare_parameter("grid_search.dt"); + parameters_->grid_search.min = declare_parameter("grid_search.min"); + parameters_->grid_search.max = declare_parameter("grid_search.max"); + parameters_->grid_search.resolution = declare_parameter("grid_search.resolution"); + parameters_->grid_search.thread_num = declare_parameter("grid_search.thread_num"); parameters_->target_state.lat_positions = declare_parameter>("target_state.lateral_positions"); parameters_->target_state.lat_velocities = @@ -199,7 +205,7 @@ void BehaviorAnalyzerNode::weight( [[maybe_unused]] const Trigger::Request::SharedPtr req, Trigger::Response::SharedPtr res) { std::lock_guard lock(mutex_); - RCLCPP_INFO(get_logger(), "start weight grid seach."); + RCLCPP_INFO(get_logger(), "start weight grid search."); const auto & p = parameters_; @@ -209,13 +215,13 @@ void BehaviorAnalyzerNode::weight( std::vector weight_grid; - double resolusion = p->grid_seach.resolusion; - double min = p->grid_seach.min; - double max = p->grid_seach.max; - for (double w0 = min; w0 < max + 0.1 * resolusion; w0 += resolusion) { - for (double w1 = min; w1 < max + 0.1 * resolusion; w1 += resolusion) { - for (double w2 = min; w2 < max + 0.1 * resolusion; w2 += resolusion) { - for (double w3 = min; w3 < max + 0.1 * resolusion; w3 += resolusion) { + double resolution = p->grid_search.resolution; + double min = p->grid_search.min; + double max = p->grid_search.max; + for (double w0 = min; w0 < max + 0.1 * resolution; w0 += resolution) { + for (double w1 = min; w1 < max + 0.1 * resolution; w1 += resolution) { + for (double w2 = min; w2 < max + 0.1 * resolution; w2 += resolution) { + for (double w3 = min; w3 < max + 0.1 * resolution; w3 += resolution) { weight_grid.emplace_back(w0, w1, w2, w3); } } @@ -240,7 +246,7 @@ void BehaviorAnalyzerNode::weight( stop_watch.tic("total_time"); while (reader_.has_next() && rclcpp::ok()) { - update(bag_data, p->grid_seach.dt); + update(bag_data, p->grid_search.dt); if (!bag_data->ready()) break; @@ -276,7 +282,7 @@ void BehaviorAnalyzerNode::weight( size_t i = 0; while (rclcpp::ok()) { std::vector threads; - for (size_t thread_id = 0; thread_id < p->grid_seach.thread_num; thread_id++) { + for (size_t thread_id = 0; thread_id < p->grid_search.thread_num; thread_id++) { threads.emplace_back(update, data_set, i + thread_id); } @@ -284,14 +290,14 @@ void BehaviorAnalyzerNode::weight( if (i + 1 > weight_grid.size()) break; - i += p->grid_seach.thread_num; + i += p->grid_search.thread_num; } show_best_result(); } std::cout << "process time: " << stop_watch.toc("total_time") << "[ms]" << std::endl; - RCLCPP_INFO(get_logger(), "finish weight grid seach."); + RCLCPP_INFO(get_logger(), "finish weight grid search."); res->success = true; } diff --git a/planning/autoware_rtc_replayer/src/autoware_rtc_replayer_node.cpp b/planning/autoware_rtc_replayer/src/autoware_rtc_replayer_node.cpp index 98afa937..ab47bcaf 100644 --- a/planning/autoware_rtc_replayer/src/autoware_rtc_replayer_node.cpp +++ b/planning/autoware_rtc_replayer/src/autoware_rtc_replayer_node.cpp @@ -15,6 +15,9 @@ #include "rtc_replayer/rtc_replayer_node.hpp" #include +#include +#include +#include namespace autoware::rtc_replayer { diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py index 8a510864..b9957651 100644 --- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py +++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py @@ -119,9 +119,11 @@ def load_rosbag(self, rosbag2_path: str): objects_topic = ( "/perception/object_recognition/detection/objects" if self.args.detected_object - else "/perception/object_recognition/tracking/objects" - if self.args.tracked_object - else "/perception/object_recognition/objects" + else ( + "/perception/object_recognition/tracking/objects" + if self.args.tracked_object + else "/perception/object_recognition/objects" + ) ) ego_odom_topic = "/localization/kinematic_state" traffic_signals_topic = "/perception/traffic_light_recognition/traffic_signals" diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py index a4202102..1b75fa8a 100755 --- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py +++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py @@ -55,9 +55,9 @@ def __init__(self, args): self.perv_objects_msg, self.prev_traffic_signals_msg = self.find_topics_by_timestamp( pose_timestamp ) - self.memorized_original_objects_msg = ( - self.memorized_noised_objects_msg - ) = self.perv_objects_msg + self.memorized_original_objects_msg = self.memorized_noised_objects_msg = ( + self.perv_objects_msg + ) # start main timer callback diff --git a/planning/planning_debug_tools/src/trajectory_analyzer.cpp b/planning/planning_debug_tools/src/trajectory_analyzer.cpp index 2dfcf940..ffbef362 100644 --- a/planning/planning_debug_tools/src/trajectory_analyzer.cpp +++ b/planning/planning_debug_tools/src/trajectory_analyzer.cpp @@ -14,6 +14,10 @@ #include "planning_debug_tools/trajectory_analyzer.hpp" +#include +#include +#include + namespace planning_debug_tools { TrajectoryAnalyzerNode::TrajectoryAnalyzerNode(const rclcpp::NodeOptions & options) diff --git a/setup.cfg b/setup.cfg index 5214751c..4d7d5e5b 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 diff --git a/vehicle/estimator_utils/include/estimator_utils/estimator_base.hpp b/vehicle/estimator_utils/include/estimator_utils/estimator_base.hpp index 80d64574..beeed058 100644 --- a/vehicle/estimator_utils/include/estimator_utils/estimator_base.hpp +++ b/vehicle/estimator_utils/include/estimator_utils/estimator_base.hpp @@ -22,6 +22,7 @@ #include "tier4_calibration_msgs/msg/estimation_result.hpp" +#include #include #include diff --git a/vehicle/time_delay_estimator/src/time_delay_estimator.cpp b/vehicle/time_delay_estimator/src/time_delay_estimator.cpp index 4f4e6b17..507b1b6d 100644 --- a/vehicle/time_delay_estimator/src/time_delay_estimator.cpp +++ b/vehicle/time_delay_estimator/src/time_delay_estimator.cpp @@ -19,6 +19,7 @@ #include "time_delay_estimator/data_processor.hpp" #include "time_delay_estimator/parameters.hpp" +#include #include #include From 49d596ee8e6c7ed00854e079905d67b6949da595 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 18 Dec 2024 00:29:34 +0300 Subject: [PATCH 3/4] ci(sync-files): utilize the sync-file-templates repository (#174) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/sync-files.yaml | 60 ++++++----------------------------------- 1 file changed, 8 insertions(+), 52 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 5b60a371..94e00009 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,4 +1,5 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - source: CODE_OF_CONDUCT.md - source: CONTRIBUTING.md @@ -7,12 +8,11 @@ - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md + - source: .github/pull_request_template.md - source: .github/dependabot.yaml - source: .github/stale.yml - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/comment-on-pr.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml @@ -22,65 +22,21 @@ - source: .clang-format - source: .markdown-link-check.json - source: .markdownlint.yaml + - source: .pre-commit-config.yaml - source: .pre-commit-config-optional.yaml - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml - source: CPPLINT.cfg - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - - source: .github/workflows/build-and-test.yaml - pre-commands: | - sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source} - - sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source} - sd -- \ - " include:" \ - " container-suffix: - - \"\" - - -cuda - include:" {source} - - source: .github/workflows/build-and-test-differential-self-hosted.yaml - pre-commands: | - sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source} - - sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source} - sd -- \ - " include:" \ - " container-suffix: - - \"\" - - -cuda - include:" {source} - - source: .github/workflows/build-and-test-self-hosted.yaml - pre-commands: | - sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source} - - sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source} - sd -- \ - " include:" \ - " container-suffix: - - \"\" - - -cuda - include:" {source} - - source: .github/workflows/check-build-depends.yaml - - source: .github/workflows/clang-tidy-pr-comments.yaml - - source: .github/workflows/clang-tidy-pr-comments-manually.yaml - - source: .github/workflows/update-codeowners-from-packages.yaml - - source: .pre-commit-config.yaml - - source: codecov.yaml - -- repository: autowarefoundation/autoware-documentation - files: - source: .github/workflows/deploy-docs.yaml - source: .github/workflows/delete-closed-pr-docs.yaml - source: mkdocs-base.yaml dest: mkdocs.yaml pre-commands: | - sd "Autoware Documentation" "Autoware Universe Documentation" {source} - sd "autoware-documentation" "autoware.universe" {source} - sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware.universe" {source} + sd "Autoware Documentation" "Autoware Tools Documentation" {source} + sd "autoware-documentation" "autoware-tools-documentation" {source} + sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware_tools" {source} sd "/edit/main/docs/" "/edit/main/" {source} sd "docs_dir: .*" "docs_dir: ." {source} sd "assets/(\w+)" "docs/assets/\$1" {source} From bf6b3ceaac58ed54abb0300b2065e30af1045b34 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 17 Dec 2024 21:39:32 +0000 Subject: [PATCH 4/4] chore(deps): bump tibdex/github-app-token from 1 to 2 (#176) Bumps [tibdex/github-app-token](https://github.com/tibdex/github-app-token) from 1 to 2. - [Release notes](https://github.com/tibdex/github-app-token/releases) - [Commits](https://github.com/tibdex/github-app-token/compare/v1...v2) --- updated-dependencies: - dependency-name: tibdex/github-app-token dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/update-codeowners-from-packages.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index e3b459a4..760a647f 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -18,7 +18,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }}