Merge branch 'main' into sync-upstream

.cspell.json

@@ -0,0 +1,109 @@
+{
+  "ignorePaths": [
+    "**/*.bash",
+    "**/*.cspell.json",
+    "**/*.dae",
+    "**/*.html",
+    "**/*.mp3",
+    "**/*.mp4",
+    "**/*.pcd",
+     "**/*.rviz",
+    "**/*.sh",
+    "**/*.stl",
+    "**/*.svg",
+    "**/*.wav",
+    "**/*.zip",
+    "**/.git/**",
+    "**/.gitignore",
+    "**/.vscode/**",
+    "**/build/**",
+    "**/CHANGELOG.rst",
+    "**/.clang-format",
+    "**/CPPLINT.cfg",
+    "**/Doxyfile",
+    "**/install/**",
+    "**/log/**",
+    "**/package-lock.json"
+  ],
+  "ignoreRegExpList": [
+    "\\[.*/.*\\]\\(https://github.com",
+    "Copyright .*[0-9]{4}.+",
+    "github.com[/:][\\w._\\-]+(/[\\w._\\-]+)?",
+    "ppa:.+/[^\\s]+",
+    "@[a-zA-Z0-9](?:[a-zA-Z0-9]|-(?=[a-zA-Z0-9])){0,38}"
+  ],
+  "overrides": [
+    {
+      "filename": "**/*.yaml",
+      "ignoreRegExpList": ["author: .+$", "git_email: .+$", "git_user: .+$", "uses: .+$"]
+    },
+    {
+      "filename": "**/package.xml",
+      "ignoreRegExpList": ["<author.*?</author>", "<maintainer.*?</maintainer>"]
+    },
+    {
+      "filename": "**/{*.cpp,*.hpp}",
+      "ignoreRegExpList": ["@author .*$", "[\\@]tparam", "\\author .*$", "Author(s)?( )?: .*$", "TODO\\((.*?)\\)"]
+    }
+  ],
+  "words": [
+    "ackermann",
+    "adapi",
+    "aichallenge",
+    "autocompute",
+    "automotiveaichallenge",
+    "autoware",
+    "awsim",
+    "booars",
+    "buildtool",
+    "colcon",
+    "costmap",
+    "cuda",
+    "cyclonedds",
+    "dallara",
+    "dcmake",
+    "distro",
+    "downsample",
+    "freespace",
+    "gnss",
+    "gnucxx",
+    "gtest",
+    "initialpose",
+    "lanechange",
+    "lanefollowing",
+    "lanelet",
+    "lanelets",
+    "libgazebo",
+    "libgl",
+    "linalg",
+    "lowpass",
+    "mapfile",
+    "mathcal",
+    "mgrs",
+    "odometry",
+    "osrf",
+    "pitstop",
+    "pointcloud",
+    "rclcpp",
+    "rclpy",
+    "rcutils",
+    "rgba",
+    "rois",
+    "rosdep",
+    "rosdistro",
+    "rviz",
+    "schematypens",
+    "sideshift",
+    "srvs",
+    "stddev",
+    "traj",
+    "urdf",
+    "velodyne",
+    "wextra",
+    "wmctrl",
+    "wpedantic",
+    "xacro",
+    "xyzrpy",
+    "zcvf"
+  ]
+}

.github/CODEOWNERS

@@ -0,0 +1,12 @@
+aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/booars_launch/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/booars_utils/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/** @hrjp
+aichallenge/workspace/src/aichallenge_submit/gyro_odometer/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/imu_corrector/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/imu_gnss_poser/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/racing_kart_description/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/** @sitahara
+aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/** @booars/aic2024-developers

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

@@ -0,0 +1,18 @@
+name: spell-check-differential
+
+on:
+  pull_request:
+    branches: [main]
+
+jobs:
+  spell-check-differential:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Run spell check
+        uses: streetsidesoftware/cspell-action@v6
+        with:
+          config: .cspell.json
+          incremental_files_only: true

.github/workflows/spell-check.yaml

@@ -0,0 +1,20 @@
+name: spell-check
+
+on:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  spell-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Run spell check
+        uses: streetsidesoftware/cspell-action@v6
+        with:
+          config: .cspell.json
+          incremental_files_only: false

.github/workflows/sync-upstream.yaml

@@ -0,0 +1,31 @@
+name: sync-upstream
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: main
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/AutomotiveAIChallenge/aichallenge-2024.git
+          sync-target-branch: main
+          pr-title: "chore: sync upstream"
+          pr-labels: |
+            bot
+            sync-upstream
+          auto-merge-method: merge

aichallenge/workspace/.clang-format

@@ -0,0 +1,47 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true

aichallenge/workspace/.gitignore

@@ -1,3 +1,6 @@
 /build
 /install
 /log
+
+.vscode
+*.code-workspace

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml

@@ -1,18 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <log message="This is aichallenge_submit_launch."/>
-  <arg name="use_sim_time" default="true"/>
-  <arg name="launch_vehicle_interface" default="false"/>
-  <arg name="sensor_model" default="racing_kart_sensor_kit"/>
-  <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
-
-  <include file="$(find-pkg-share aichallenge_submit_launch)/launch/reference.launch.xml" >
-    <arg name="vehicle_model" value="racing_kart"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-    <arg name="map_path" value="$(find-pkg-share aichallenge_submit_launch)/map"/>
-    <arg name="use_sim_time" value="$(var use_sim_time)"/>
-    <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
-  </include>
+  <include file="$(find-pkg-share booars_launch)/launch/booars.launch.xml" />
 
   <!-- place a goal pose anywhere you like-->
   <node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen">

aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.5)
+project(booars_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+ament_auto_package(INSTALL_TO_SHARE launch map config)

aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_offset_x: 0.0    # [rad/s]
+    angular_velocity_offset_y: 0.0    # [rad/s]
+    angular_velocity_offset_z: 0.0    # [rad/s]
+    angular_velocity_stddev_xx: 0.03  # [rad/s]
+    angular_velocity_stddev_yy: 0.03  # [rad/s]
+    angular_velocity_stddev_zz: 0.03  # [rad/s]

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml

@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true"/>
+
+  <arg name="map_path" default="$(find-pkg-share booars_launch)/map"/>
+
+  <arg name="vehicle_model" default="racing_kart"  description="vehicle model name"/>
+  <arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/>
+
+  <!-- Optional parameters -->
+  <arg name="lanelet2_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+
+  <!-- Common -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/common.launch.xml">
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/map.launch.xml">
+    <arg name="map_path" value="$(var map_path)"/>
+    <arg name="lanelet2_map_file" value="$(var lanelet2_file)"/>
+  </include>
+
+  <!-- Sensing -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/sensing.launch.xml"/>
+
+  <!-- Perception -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/perception.launch.xml"/>
+
+  <!-- Localization -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/localization.launch.xml"/>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/planning.launch.xml"/>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/control.launch.xml"/>
+
+  <!-- Vehicle -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/vehicle.launch.xml"/>
+
+  <!-- API -->
+  <group>
+    <!-- default_ad_api -->
+    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" />
+
+    <!-- ad_api_adaptors -->
+    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" />
+  </group>
+
+</launch>

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- Parameters -->
+  <arg name="use_sim_time" description="use_sim_time"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+
+  <!-- Global Parameter Loader -->
+  <group scoped="false">
+    <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    </include>
+  </group>
+
+  <!-- Robot State Publisher -->
+  <group>
+    <arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
+    <arg name="config_dir" default="$(find-pkg-share racing_kart_sensor_kit_description)/config"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
+    </node>
+  </group>
+
+</launch>

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="control"/>
+    <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
+      <param name="use_external_target_vel" value="true"/>
+      <param name="external_target_vel" value="8.0"/>
+      <param name="lookahead_gain" value="0.3"/>
+      <param name="lookahead_min_distance" value="4.0"/>
+      <param name="speed_proportional_gain" value="1.0"/>
+
+      <remap from="input/kinematics" to="/localization/kinematic_state"/>
+      <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
+      <remap from="output/control_cmd" to="/control/command/control_cmd"/>
+    </node>
+  </group>
+</launch>