chore: sync beta branch beta/v0.40 with tier4/main

.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

.clang-tidy-ignore

@@ -0,0 +1 @@
+*/examples/*

.cspell.json

@@ -4,5 +4,5 @@
     "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "fromarray", "soblin"]
+  "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54", "libtensorrt"]
 }

.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:

.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

.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:

.github/dependabot.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.
+
 version: 2
 updates:
   - package-ecosystem: github-actions

.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

.github/sync-files.yaml

@@ -1,55 +1,48 @@
-- repository: autowarefoundation/autoware
+- repository: autowarefoundation/sync-file-templates
+  source-dir: sources
   files:
-    - source: CODE_OF_CONDUCT.md
-    - source: CONTRIBUTING.md
-    - source: DISCLAIMER.md
-    - source: LICENSE
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
     - source: .github/dependabot.yaml
+    - source: .github/pull_request_template_complex.md
+      dest: .github/pull_request_template.md
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml
+    - 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/comment-on-pr.yaml
+    - source: .github/workflows/delete-closed-pr-docs.yaml
+    - source: .github/workflows/deploy-docs.yaml
     - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/pre-commit-optional-autoupdate.yaml
+    - source: .github/workflows/pre-commit-autoupdate.yaml
     - source: .github/workflows/semantic-pull-request.yaml
     - source: .github/workflows/spell-check-differential.yaml
       pre-commands: |
         sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
-    - source: .github/workflows/spell-check-differential.yaml
-      dest: .github/workflows/spell-check-daily.yaml
+    - source: .github/workflows/spell-check-daily.yaml
       pre-commands: |
-        sd "spell-check-differential" "spell-check-daily" {source}
-        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n          incremental-files-only: false\n" {source}
-        sd "on:\n  pull_request:\n" "on:\n  schedule:\n    - cron: 0 0 * * *\n  workflow_dispatch:\n" {source}
+        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
     - source: .github/workflows/sync-files.yaml
+    - source: .github/workflows/update-codeowners-from-packages.yaml
+    - source: docs/assets/js/mathjax.js
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
+    - source: .pre-commit-config.yaml
     - source: .prettierignore
     - source: .prettierrc.yaml
     - source: .yamllint.yaml
+    - source: CODE_OF_CONDUCT.md
+    - source: CONTRIBUTING.md
     - source: CPPLINT.cfg
-    - source: setup.cfg
-
-- repository: autowarefoundation/autoware_common
-  files:
-    - source: .github/workflows/clang-tidy-differential.yaml
-      pre-commands: |
-        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {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: DISCLAIMER.md
+    - source: LICENSE
     - source: mkdocs-base.yaml
       dest: mkdocs.yaml
       pre-commands: |
@@ -63,4 +56,4 @@
         "  - macros" \
         "  - macros:
               module_name: mkdocs_macros" {source}
-    - source: docs/assets/js/mathjax.js
+    - source: setup.cfg

.github/workflows/build-and-test-daily.yaml

@@ -5,9 +5,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64, gpu]
+    runs-on: [self-hosted, Linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -30,13 +34,43 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get self packages
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
+
+      - name: Limit ccache size
+        run: |
+          rm -f "${CCACHE_DIR}/ccache.conf"
+          echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
+        shell: bash
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
@@ -56,6 +90,10 @@ jobs:
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test

.github/workflows/build-and-test-differential.yaml

@@ -27,29 +27,31 @@ jobs:
     with:
       label: tag:require-cuda-build-and-test
 
-  build-and-test-differential:
+  prepare-build-and-test-differential:
+    runs-on: ubuntu-latest
     needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
-    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ${{ matrix.runner }}
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - ""
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:universe-devel
-            build-depends-repos: build_depends.repos
-          - container-suffix: -cuda
-            runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-            build-pre-command: taskset --cpu-list 0-5
-          - container-suffix: ""
-            runner: ubuntu-latest
-            build-pre-command: ""
+    outputs:
+      cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }}
+    steps:
+      - name: Check if cuda-build is required
+        id: check-if-cuda-build-is-required
+        run: |
+          if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then
+            echo "cuda-build is required"
+            echo "cuda_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "cuda-build is not required"
+            echo "cuda_build=false" >> $GITHUB_OUTPUT
+          fi
+        shell: bash
+      - name: Fail if the tag:run-build-and-test-differential is missing
+        if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }}
+        run: exit 1
+
+  build-and-test-differential:
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:universe-devel
+    needs: prepare-build-and-test-differential
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -62,20 +64,91 @@ jobs:
           fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Run build-and-test-differential action
-        if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}
         uses: ./.github/actions/build-and-test-differential
         with:
-          rosdistro: ${{ matrix.rosdistro }}
-          container: ${{ matrix.container }}
-          container-suffix: ${{ matrix.container-suffix }}
-          runner: ${{ matrix.runner }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-          build-pre-command: ${{ matrix.build-pre-command }}
+          rosdistro: humble
+          container: ghcr.io/autowarefoundation/autoware:universe-devel
+          container-suffix: ""
+          runner: ubuntu-latest
+          build-depends-repos: build_depends.repos
+          build-pre-command: ""
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+
+  build-and-test-differential-cuda:
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
+    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
+    needs: prepare-build-and-test-differential
+    if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }}
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+        shell: bash
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Run build-and-test-differential action
+        uses: ./.github/actions/build-and-test-differential
+        with:
+          rosdistro: humble
+          container: ghcr.io/autowarefoundation/autoware:universe-devel
+          container-suffix: -cuda
+          runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
+          build-depends-repos: build_depends.repos
+          build-pre-command: taskset --cpu-list 0-5
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
   clang-tidy-differential:
-    needs: build-and-test-differential
-    runs-on: ubuntu-22.04
+    needs: [build-and-test-differential, prepare-build-and-test-differential]
+    if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:universe-devel
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get changed files (existing files only)
+        id: get-changed-files
+        run: |
+          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
+          clang-tidy-ignore-path: .clang-tidy-ignore
+          build-depends-repos: build_depends.repos
+          cache-key-element: cuda
+
+      - name: Show disk space after the tasks
+        run: df -h
+
+  clang-tidy-differential-cuda:
+    needs: build-and-test-differential-cuda
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
     container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
     steps:
       - name: Set PR fetch depth
@@ -109,8 +182,8 @@ jobs:
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-changed-files.outputs.changed-files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
+          clang-tidy-ignore-path: .clang-tidy-ignore
           build-depends-repos: build_depends.repos
           cache-key-element: cuda
 

.github/workflows/build-and-test.yaml

@@ -16,7 +16,7 @@ env:
 
 jobs:
   build-and-test:
-    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
+    runs-on: [self-hosted, Linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

.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: