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 +1,11 @@
+aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/** @booars/aic2024-developers
+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/booars_utils/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(booars_utils)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  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_package()

aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp

@@ -0,0 +1,52 @@
+// Copyright 2024 Booars
+//
+// 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 BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+#define BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <utility>
+
+namespace booars_utils::ros {
+
+class FunctionTimer {
+ private:
+  rclcpp::TimerBase::SharedPtr timer_;
+
+ public:
+  using SharedPtr = std::shared_ptr<FunctionTimer>;
+
+  static SharedPtr create_function_timer(rclcpp::Node* node,
+                                         const double update_rate_hz,
+                                         std::function<void()> callback) {
+    return std::make_shared<FunctionTimer>(node, update_rate_hz, callback);
+  }
+
+  explicit FunctionTimer(rclcpp::Node* node, const double update_rate_hz,
+                         std::function<void()> callback) {
+    const double dt = 1.0 / update_rate_hz;
+
+    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+        std::chrono::duration<double>(dt));
+    timer_ = std::make_shared<rclcpp::GenericTimer<decltype(callback)>>(
+        node->get_clock(), period, std::move(callback),
+        node->get_node_base_interface()->get_context());
+    node->get_node_timers_interface()->add_timer(timer_, nullptr);
+  }
+};
+
+}  // namespace booars_utils::ros
+
+#endif  // BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_

aichallenge/workspace/src/aichallenge_submit/booars_utils/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>booars_utils</name>
+  <version>0.1.0</version>
+  <description>The booars_utils package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp

@@ -9,6 +9,8 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <optional>
 #include <rclcpp/rclcpp.hpp>
+#include <visualization_msgs/msg/marker.hpp>
+#include <rcl_interfaces/msg/set_parameters_result.hpp>
 
 namespace simple_pure_pursuit {
 
@@ -18,6 +20,7 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
+using visualization_msgs::msg::Marker;
 
 class SimplePurePursuit : public rclcpp::Node {
  public:
@@ -29,6 +32,7 @@ class SimplePurePursuit : public rclcpp::Node {
 
   // publishers
   rclcpp::Publisher<AckermannControlCommand>::SharedPtr pub_cmd_;
+  rclcpp::Publisher<Marker>::SharedPtr mkr_cmd_;
 
   // timer
   rclcpp::TimerBase::SharedPtr timer_;
@@ -40,17 +44,19 @@ class SimplePurePursuit : public rclcpp::Node {
 
 
   // pure pursuit parameters
-  const double wheel_base_;
-  const double lookahead_gain_;
-  const double lookahead_min_distance_;
-  const double speed_proportional_gain_;
-  const bool use_external_target_vel_;
-  const double external_target_vel_;
+  double wheel_base_;
+  double lookahead_gain_;
+  double lookahead_min_distance_;
+  double speed_proportional_gain_;
+  bool use_external_target_vel_;
+  double external_target_vel_;
+  OnSetParametersCallbackHandle::SharedPtr reset_param_handler_;
 
 
  private:
   void onTimer();
   bool subscribeMessageAvailable();
+  rcl_interfaces::msg::SetParametersResult parameter_callback(const std::vector<rclcpp::Parameter> &parameters);
 };
 
 }  // namespace simple_pure_pursuit