Merge remote-tracking branch 'upstream/updated_version' into updated_…

…version

.github/CODEOWNERS

@@ -56,7 +56,7 @@ common/time_utils/** [email protected] [email protected] tomo
 common/traffic_light_recognition_marker_publisher/** [email protected] [email protected] [email protected]
 common/traffic_light_utils/** [email protected] [email protected] [email protected]
 common/tvm_utility/** [email protected] [email protected]
-control/autonomous_emergency_braking/** [email protected] [email protected] [email protected]
+control/autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected]
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/external_cmd_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -69,6 +69,7 @@ control/pid_longitudinal_controller/** [email protected] takamasa.horibe@tie
 control/predicted_path_checker/** [email protected]
 control/pure_pursuit/** [email protected]
 control/shift_decider/** [email protected]
+control/smart_mpc_trajectory_follower/** [email protected]
 control/trajectory_follower_base/** [email protected] [email protected]
 control/trajectory_follower_node/** [email protected] [email protected]
 control/vehicle_cmd_gate/** [email protected] [email protected]
@@ -155,7 +156,9 @@ perception/traffic_light_map_based_detector/** [email protected] tao.zhong
 perception/traffic_light_multi_camera_fusion/** [email protected] [email protected]
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/traffic_light_visualization/** [email protected] [email protected]
+planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
+planning/autoware_static_centerline_generator/** [email protected] [email protected]
 planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_dynamic_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
@@ -182,7 +185,7 @@ planning/behavior_velocity_run_out_module/** [email protected] makoto.kur
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_template_module/** [email protected]
-planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]
@@ -197,7 +200,7 @@ planning/obstacle_cruise_planner/** [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
-planning/planning_test_utils/** [email protected] [email protected]
+planning/planning_test_utils/** [email protected] [email protected] takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 planning/planning_topic_converter/** [email protected] [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -208,7 +211,6 @@ planning/sampling_based_planner/frenet_planner/** [email protected]
 planning/sampling_based_planner/path_sampler/** [email protected]
 planning/sampling_based_planner/sampler_common/** [email protected]
 planning/scenario_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/static_centerline_generator/** [email protected] [email protected]
 planning/surround_obstacle_checker/** [email protected]
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/image_diagnostics/** [email protected] [email protected]
@@ -225,7 +227,7 @@ sensing/vehicle_velocity_converter/** [email protected]
 simulator/dummy_perception_publisher/** [email protected]
 simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
-simulator/simple_planning_simulator/** [email protected] [email protected]
+simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 simulator/vehicle_door_simulator/** [email protected]
 system/autoware_auto_msgs_adapter/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
@@ -249,6 +251,7 @@ system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]
 system/velodyne_monitor/** [email protected]
+tools/reaction_analyzer/** [email protected]
 vehicle/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]

common/component_interface_tools/CMakeLists.txt

@@ -3,5 +3,14 @@ project(component_interface_tools)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-ament_auto_add_executable(service_log_checker src/service_log_checker.cpp)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/service_log_checker.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ServiceLogChecker"
+  EXECUTABLE service_log_checker_node
+)
+
 ament_auto_package(INSTALL_TO_SHARE launch)

common/component_interface_tools/launch/service_log_checker.launch.xml

@@ -1,3 +1,3 @@
 <launch>
-  <node pkg="component_interface_tools" exec="service_log_checker" name="service_log_checker"/>
+  <node pkg="component_interface_tools" exec="service_log_checker_node"/>
 </launch>

common/component_interface_tools/package.xml

@@ -13,6 +13,7 @@
   <depend>diagnostic_updater</depend>
   <depend>fmt</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 

common/component_interface_tools/src/service_log_checker.cpp

@@ -22,7 +22,8 @@
 #define FMT_HEADER_ONLY
 #include <fmt/format.h>
 
-ServiceLogChecker::ServiceLogChecker() : Node("service_log_checker"), diagnostics_(this)
+ServiceLogChecker::ServiceLogChecker(const rclcpp::NodeOptions & options)
+: Node("service_log_checker", options), diagnostics_(this)
 {
   sub_ = create_subscription<ServiceLog>(
     "/service_log", 50, std::bind(&ServiceLogChecker::on_service_log, this, std::placeholders::_1));
@@ -98,13 +99,5 @@ void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusW
   }
 }
 
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<ServiceLogChecker>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ServiceLogChecker)

common/component_interface_tools/src/service_log_checker.hpp

@@ -26,7 +26,7 @@
 class ServiceLogChecker : public rclcpp::Node
 {
 public:
-  ServiceLogChecker();
+  explicit ServiceLogChecker(const rclcpp::NodeOptions & options);
 
 private:
   using ServiceLog = tier4_system_msgs::msg::ServiceLog;