Merge branch 'main' into sync-upstream

.cspell.json

@@ -0,0 +1,143 @@
+{
+  "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\\((.*?)\\)"]
+    }
+  ],
+  "flagWords": [
+    "gird"
+  ],
+  "words": [
+    "accelmap",
+    "ackermann",
+    "adapi",
+    "aichallenge",
+    "astar",
+    "autocompute",
+    "autodetermine",
+    "automotiveaichallenge",
+    "autoware",
+    "awsim",
+    "booars",
+    "brakemap",
+    "buildtool",
+    "colcon",
+    "costmap",
+    "cuda",
+    "cyclonedds",
+    "dallara",
+    "dcmake",
+    "decel",
+    "distro",
+    "downsample",
+    "freespace",
+    "gnss",
+    "gnucxx",
+    "gtest",
+    "initialpose",
+    "lanechange",
+    "lanefollowing",
+    "lanelet",
+    "lanelets",
+    "libgazebo",
+    "libgl",
+    "linalg",
+    "linestring",
+    "linestrings",
+    "lowpass",
+    "mapfile",
+    "mathcal",
+    "mgrs",
+    "odometry",
+    "osrf",
+    "pitstop",
+    "pointcloud",
+    "rclcpp",
+    "rclpy",
+    "rcutils",
+    "rgba",
+    "rois",
+    "rosdep",
+    "rosdistro",
+    "rrtstar",
+    "rviz",
+    "schematypens",
+    "sideshift",
+    "srvs",
+    "stddev",
+    "traj",
+    "urdf",
+    "velodyne",
+    "wextra",
+    "wmctrl",
+    "wpedantic",
+    "xacro",
+    "xyzrpy",
+    "zcvf",
+    "mppi",
+    "Qdin",
+    "Kohei",
+    "MPPI",
+    "Savitzky",
+    "satitzky",
+    "Golay",
+    "Vandermonde",
+    "michikuni",
+    "eguchi",
+    "vander",
+    "pinv",
+    "dtheta",
+    "cind",
+    "dind",
+    "ncourse",
+    "argmin",
+    "reparameting",
+    "tempature",
+    "rsample",
+    "coeffs",
+    "softplus",
+    "mpss"
+  ]
+}

.github/CODEOWNERS

@@ -0,0 +1,16 @@
+aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/booars_dummy_perception_publisher/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/booars_launch/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/booars_utils/** @Autumn60
+aichallenge/workspace/src/aichallenge_submit/costmap/** @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
+aichallenge/workspace/src/aichallenge_submit/mppi_controller/** @tamago117
+aichallenge/workspace/src/aichallenge_submit/stanley_control/** @sitahara

.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

.gitignore

@@ -0,0 +1 @@
+.vscode

aichallenge/.gitignore

@@ -0,0 +1,2 @@
+capture
+result-details.json

aichallenge/pkill_all.sh

@@ -1,6 +1,8 @@
 #!/bin/bash
 
+pkill -9 AWSIM.x86_64
 pkill -9 component_conta
+pkill -9 dummy_objects_p
 pkill -9 ekf_localizer
 pkill -9 empty_objects_p
 pkill -9 goal_pose_sette

aichallenge/run_evaluation.bash

@@ -1,6 +1,9 @@
 #!/bin/bash
 AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM
 
+# Kill all processes
+source /aichallenge/pkill_all.sh
+
 # Move working directory
 OUTPUT_DIRECTORY=$(date +%Y%m%d-%H%M%S)
 cd /output || exit

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 +1,7 @@
 /build
 /install
 /log
+
+.vscode
+*.code-workspace
+result-details.json

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

@@ -5,23 +5,23 @@
   <arg name="sensor_model"/>
   <arg name="launch_vehicle_interface"/>
 
-  <log message="The arguments for aichallenge_submit_launch."/>
+  <log message="The arguments for booars_launch."/>
   <log message=" - simulation: $(var simulation)"/>
   <log message=" - use_sim_time: $(var use_sim_time)"/>
   <log message=" - sensor_model: $(var sensor_model)"/>
   <log message=" - launch_vehicle_interface: $(var launch_vehicle_interface)"/>
 
-  <include file="$(find-pkg-share aichallenge_submit_launch)/launch/reference.launch.xml" >
+  <include file="$(find-pkg-share booars_launch)/launch/booars.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="map_path" value="$(find-pkg-share booars_launch)/map"/>
     <arg name="use_sim_time" value="$(var use_sim_time)"/>
     <arg name="simulation" value="$(var simulation)"/>
     <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
   </include>
 
   <!-- place a goal pose anywhere you like-->
   <node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen">
-    <param from="$(find-pkg-share goal_pose_setter)/config/default_goal_pose.param.yaml" />
+    <param from="$(find-pkg-share booars_launch)/config/planning/goal_pose.param.yaml" />
   </node>
 </launch>

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

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(booars_dummy_perception_publisher)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+include_directories(include)
+
+ament_auto_add_library(booars_dummy_perception_publisher SHARED
+  src/dummy_objects_publisher.cpp
+)
+
+rclcpp_components_register_node(booars_dummy_perception_publisher
+  PLUGIN "booars_dummy_perception_publisher::DummyObjectsPublisher"
+  EXECUTABLE dummy_objects_publisher
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()