Merge remote-tracking branch 'origin/master' into feature/interpreter…

…/routing-algorithm

.github/workflows/BuildAndRun.yaml

@@ -28,7 +28,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: [galactic, humble]
+        rosdistro: [humble]
     steps:
       - name: suppress warnings
         run: |

.github/workflows/Docker.yaml

@@ -24,7 +24,7 @@ jobs:
     timeout-minutes: 180
     strategy:
       matrix:
-        rosdistro: [galactic, humble]
+        rosdistro: [humble]
     steps:
       - uses: actions/checkout@v3
 

.github/workflows/custom_spell.json

@@ -2,7 +2,6 @@
   "ignorePaths": [
     "*.drawio",
     "*/**/CHANGELOG.rst",
-    "external/lanelet2_matching/**",
     "openscenario/openscenario_utility/openscenario_utility/resources/*.xsd"
   ],
   "words": [

.gitignore

@@ -12,7 +12,6 @@
 
 # external packages
 external/*
-!external/lanelet2_matching
 !external/concealer
 
 # auto-generated files

HACKING.md

@@ -0,0 +1,121 @@
+# How to hack scenario_simulator_v2
+
+## Note
+
+This document is written for those who want to participate in the development
+of `scenario_simulator_v2` or make their own modifications to
+`scenario_simulator_v2`. Development requires general knowledge of ROS 2
+software and robotic systems and a certain level of C++ skills, as well as
+reading the ASAM OpenSCENARIO standard documentation appropriately.
+
+## Prerequisite Knowledge
+
+The `scenario_simulator_v2` consists of the following four main components.
+
+### `scenario_test_runner`
+
+The `scenario_test_runner` is responsible for managing the progress of the
+entire process. It takes a single scenario file or a workflow file of multiple
+scenarios as arguments, and passes each scenario to `openscenario_interpreter`
+to evaluate each scenario. Another task of the `scenario_test_runner` is to
+preprocess each scenario file before running the scenario.
+
+TIER IV uses scenarios in YAML format with some extensions to ASAM OpenSCENARIO
+1.2. The extended syntax mainly focuses on parameterization features that were
+not standardized as of OpenSCENARIO 1.0. Processing of the extended syntax by
+TIER IV is handled by `scenario_test_runner` and the preprocessed scenarios are
+XML files that conform to the ASAM OpenSCENARIO 1.2 schema. Note that the
+scenario passed to `openscenario_interpreter` is therefore in ASAM standard
+format (`.xosc`), not the extended format by TIER IV (`.yaml`).
+
+Both scenario files written in the TIER IV extended format (`.yaml`) and
+standard ASAM OpenSCENARIO 1.2 scenario files (`.xosc`) can be given to
+`scenario_test_runner`.
+
+### `openscenario_interpreter`
+
+The `openscenario_interpreter` is an interpreter for OpenSCENARIO 1.2 scenario
+definition files in `.xosc` format, corresponding to the OpenSCENARIO Director
+in The ASAM OpenSCENARIO architecture. It is a naive syntax tree interpreter
+that parses a scenario definition file by recursive descent parsing, constructs
+an abstract syntax tree, and evaluates the syntax tree directly. The
+`openscenario_interpreter` is primarily responsible for interpreting ASAM
+OpenSCENARIO, since the fundamental part of the simulation, such as coordinates
+and time management, is managed by the `traffic_simulator`.
+
+### `traffic_simulator`
+
+This is a core library for traffic flow simulation, corresponding to the
+Simulator Core in The ASAM OpenSCENARIO architecture. It is responsible for
+computing the coordinates and behavior of each entity that appears in the
+simulation, whereas `openscenario_interpreter` is responsible for parsing
+scenario files and managing the progress of the scenario. It is clearly
+differentiated from `openscenario_interpreter`, but `traffic_simulator` itself
+is a library and is built into `openscenario_interpreter`, so it does not
+appear as independent software while running the scenario.
+
+A lot of processing, except for entity decision making during simulation are
+pluggable and designed to allow switching the level of simulation detail and
+computational complexity by connecting simulators with compatible APIs.
+Currently only `simple_sensor_simulator` is compatible with the
+`traffic_simulator` API, but work is underway to enable the connection of
+AWSIM, a high-performance simulator being developed by TIER IV.
+
+### `simple_sensor_simulator`
+
+Reference implementation of a simulator conforming to the `traffic_simulator`
+API. It provides a very simple environmental simulation with emphasis on
+lightweight execution of simulations.
+
+Based on the true values of the entities computed by `traffic_simulator`, it
+computes the recognition information in addition to the LiDAR sensor values and
+sends it to Autoware.
+
+Historically, this module was created for sensor simulation, but now a lot of
+processing beyond sensor simulation have been transferred from
+`traffic_simulator`.
+
+## Other Resources
+
+### [ASAM OpenSCENARIO: User Guide](https://www.asam.net/index.php?eID=dumpFile&t=f&f=4908&token=ae9d9b44ab9257e817072a653b5d5e98ee0babf8)
+
+This document describes the basic concepts of ASAM OpenSCENARIO 1.2. Note that
+it provides a relatively detailed description of the coordinate system, but
+lacks information on the details of the language's behavior.
+
+### [XSD description](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/)
+
+Documentation of the structure of each syntax element of ASAM OpenSCENARIO 1.2.
+Refer to it appropriately when developing `openscenario_interpreter`. However,
+there are many ambiguous descriptions and many details are left to the
+simulator implementors. Thus, please refer to the code comments of the
+implementation as well.
+
+## Development Guide
+
+Please follow the steps below to set up the environment and check the sample
+scenario behavior.
+
+1.[Build scenario_simulator_v2 with Autoware](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/scenario-simulation/planning-simulation/installation/)
+2.[Run the sample scenario of `scenario_simulator_v2`](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/scenario-simulation/planning-simulation/scenario-test-simulation/)
+
+The sample scenario
+([sample.yaml](test_runner/scenario_test_runner/scenario/sample.yaml)) is a
+very simple one in which an Autoware-controlled vehicle is asked to drive a
+certain distance along a straight road. Although the content of the scenario is
+simple, it contains the minimum necessary elements to verify that
+`scenario_simulator_v2` is able to properly activate Autoware and operate under
+the scenario. Therefore, if this sample scenario works without any problems,
+you can be sure that there are no problems in setting up your environment.
+
+The most efficient way to understand the `scenario_simulator_v2` implementation
+is to trace the process of running the sample scenario from top to bottom. In
+other words, it's a good idea to start with scenario_test_runner.launch.py and
+then read the code through `scenario_test_runner`, `openscenario_interpreter`,
+`traffic_simulator`, and finally `simple_sensor_simulator`. In general, you
+should be able to grasp the entire process flow of `scenario_simulator_v2` and
+add or modify features in a day or two.
+
+If you are unsure about any part of the code, please refer to the detailed
+documentation of the relevant section accordingly, or contact the developers
+via an issue in the `scenario_simulator_v2` GitHub repository.

common/math/geometry/CMakeLists.txt

@@ -13,11 +13,6 @@ ament_auto_find_build_dependencies()
 
 ament_auto_add_library(geometry SHARED DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
-# Workaround to allow deprecated header to build on both galactic and humble
-if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
-  target_compile_definitions(geometry PUBLIC USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER)
-endif()
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

common/math/geometry/src/transform.cpp

@@ -14,13 +14,9 @@
 
 #include <quaternion_operation/quaternion_operation.h>
 #include <tf2/LinearMath/Quaternion.h>
-#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
 
 #include <geometry/transform.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace math
 {

docs/ReleaseNotes.md

@@ -4,9 +4,9 @@
 
 Major Changes :race_car: :red_car: :blue_car:
 
-| Feature | Brief summary | Category | Pull request | Contributor |
-|---------|---------------|----------|--------------|-------------|
-|         |               |          |              |             |
+| Feature                                            | Brief summary                                                                                                                                                          | Category                                                                   | Pull request                                                      | Contributor                             |
+|----------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------|-------------------------------------------------------------------|-----------------------------------------|
+| Traffic Light Simulation                           | Start supporting to traffic light messages in `autoware_perception_msgs`.                                                                                              | `openscenario_interpreter`, `traffic_simulator`, `simple_sensor_simulator` | [#1027](https://github.com/tier4/scenario_simulator_v2/pull/1027) | [HansRobo](https://github.com/HansRobo) |
 
 Bug Fixes:bug:
 

docs/user_guide/BuildInstructions.md

@@ -1,6 +1,6 @@
 # Build Instructions
 
-This setup instruction is based on ROS 2 galactic.
+This setup instruction is based on ROS 2 humble.
 
 ## Setup ROS 2 environment
 
@@ -18,12 +18,12 @@ sudo apt install curl gnupg2 lsb-release
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 sudo apt update
-sudo apt install ros-galactic-desktop
-source /opt/ros/galactic/setup.bash
+sudo apt install ros-humble-desktop
+source /opt/ros/humble/setup.bash
 sudo apt install -y python3-pip python3-rosdep2 python3-vcstool python3-colcon-common-extensions
 rosdep update
 ```
-reference : <https://docs.ros.org/en/galactic/Installation.html>
+reference : <https://docs.ros.org/en/humble/Installation.html>
 ## Setup workspace
 
 ```bash
@@ -33,15 +33,15 @@ git clone https://github.com/tier4/scenario_simulator_v2.git
 # These lines are necessary right now, but it will be removed in the near future
 cd scenario_simulator_v2
 # This script clones the part of the source codes in Autoware and add it to the workspace
-vcs import external < dependency_galactic.repos
+vcs import external < dependency_humble.repos
 ```
 
 ## Install dependencies via rosdep
 
 ```bash
 cd ~/scenario_simulator_ws
-source /opt/ros/galactic/setup.bash
-rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro galactic
+source /opt/ros/humble/setup.bash
+rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble
 ```
 
 ## Build scenario_simulator_v2

docs/user_guide/QuickStart.md

@@ -4,8 +4,8 @@ This document contains step-by-step instruction on how to build and run [AWF Aut
 
 ## Prerequisites 
 
-1. Ubuntu 20.04 machine
-3. ROS 2 Galactic Geochelone desktop version [installed](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
+1. Ubuntu 22.04 machine
+3. ROS 2 Humble Hawksbill desktop version [installed](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
 
 ## How to build
 
@@ -41,7 +41,7 @@ This document contains step-by-step instruction on how to build and run [AWF Aut
 
 5. Install dependent ROS packages.
    ```bash
-   source /opt/ros/galactic/setup.bash
+   source /opt/ros/humble/setup.bash
    rosdep install -iry --from-paths src --rosdistro $ROS_DISTRO
    ```
 6. Build the workspace.

docs/user_guide/RunWithDocker.md

@@ -128,7 +128,7 @@ After install rocker, please check rocker works correctly.<br/>
 If your machine has GPU(s), please execute the commands below.
 
 ```bash
-rocker --nvidia --x11 osrf/ros:galactic-desktop rviz2
+rocker --nvidia --x11 osrf/ros:humble-desktop rviz2
 ```
 
 You can see rviz working on docker.
@@ -137,7 +137,7 @@ You can see rviz working on docker.
 If your machine has no GPU, please execute the commands below.
 
 ```bash
-rocker --x11 osrf/ros:galactic-desktop rviz2
+rocker --x11 osrf/ros:humble-desktop rviz2
 ```
 
 You can see the same result with NVIDIA GPU.
@@ -154,23 +154,23 @@ You can run the sample scenarios easily by using our pre-built docker image.
 If you want to build a docker image in your local machine, please execute the commands below in your terminal.
 ```bash
 cd path/to/scenario_simulator_v2
-docker build -t scenario_simulator_v2 . --build-arg ROS_DISTRO=galactic
+docker build -t scenario_simulator_v2 . --build-arg ROS_DISTRO=humble
 ```
-Please replace the docker image name (e.g. "ghcr.io/tier4/scenario_simulator_v2:galactic" ) with "scenario_simulator_v2" <br/>
+Please replace the docker image name (e.g. "ghcr.io/tier4/scenario_simulator_v2:humble" ) with "scenario_simulator_v2" <br/>
 to use your built docker image in the launching commands. 
 
 </details>
 
 If your local machine has NVIDIA GPU(s), you can launch scenario_simulator_v2 with test scenarios
     ```bash
-    docker pull ghcr.io/tier4/scenario_simulator_v2:galactic
-    rocker --nvidia --x11 ghcr.io/tier4/scenario_simulator_v2:galactic ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
+    docker pull ghcr.io/tier4/scenario_simulator_v2:humble
+    rocker --nvidia --x11 ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
     ```
 
 If your local machine does NOT have NVIDIA GPU(s), you can launch scenario_simulator_v2 with test scenarios
     ```bash
-    docker pull ghcr.io/tier4/scenario_simulator_v2:galactic
-    rocker --x11 ghcr.io/tier4/scenario_simulator_v2:galactic ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
+    docker pull ghcr.io/tier4/scenario_simulator_v2:humble
+    rocker --x11 ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
     ```
 
 <video
@@ -204,7 +204,7 @@ and execute the command below
 
 ```
 rocker --x11 --oyr-mount $PWD/path/to/your/scenario.yaml \
-    -- ghcr.io/tier4/scenario_simulator_v2:galactic \
+    -- ghcr.io/tier4/scenario_simulator_v2:humble \
     ros2 launch scenario_test_runner scenario_test_runner.launch.py \
     scenario:=$PWD/path/to/your/scenario.yaml launch_rviz:=True
 ```
@@ -215,8 +215,8 @@ wget https://gist.github.com/hakuturu583/5e6a651df9abdf25dca7071ff5ea8ac3/archiv
 unzip 1448057aeebc34cbfc04598b965440fcf7ecb636.zip
 mv 5e6a651df9abdf25dca7071ff5ea8ac3-1448057aeebc34cbfc04598b965440fcf7ecb636 scenarios
 sudo pip3 install git+https://github.com/sloretz/off-your-rocker.git
-docker pull ghcr.io/tier4/scenario_simulator_v2:galactic
-rocker --x11 --oyr-mount $PWD/scenarios/UC-001-0001-Kashiwa.yaml -- ghcr.io/tier4/scenario_simulator_v2:galactic ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=$PWD/scenarios/UC-001-0001-Kashiwa.yaml launch_rviz:=True
+docker pull ghcr.io/tier4/scenario_simulator_v2:humble
+rocker --x11 --oyr-mount $PWD/scenarios/UC-001-0001-Kashiwa.yaml -- ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=$PWD/scenarios/UC-001-0001-Kashiwa.yaml launch_rviz:=True
 ```
 Our sample should run like the video below.
 

docs/user_guide/deprected/RunWithAutowareArchitectureProposal.md

@@ -6,9 +6,9 @@ This document contains step-by-step instruction on how to build and run [Autowar
 
 1. Ubuntu 20.04 machine
 2. Hardware with CUDA 11.1 capable graphics card
-3. ROS 2 Galactic Geochelone desktop version [installed](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) and sourced:
+3. ROS 2 Galactic Geochelone desktop version [installed](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) and sourced:
    ```bash
-   source /opt/ros/galactic/setup.bash
+   source /opt/ros/humble/setup.bash
    ```
 
 ## How to build