Merge branch 'master' into fix/math-closest-point

tier4 · Dec 11, 2024 · f9e8d20 · f9e8d20
2 parents e4ce844 + 9c568e9
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge pull request `#1454 <https://github.com/tier4/scenario_simulator_v2/issues/1454>`_ from tier4/RJD-736/autoware_msgs_support

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,12 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,12 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>map package for simple cross</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge pull request `#1454 <https://github.com/tier4/scenario_simulator_v2/issues/1454>`_ from tier4/RJD-736/autoware_msgs_support

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>C++ mock scenarios</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,20 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge pull request `#1462 <https://github.com/tier4/scenario_simulator_v2/issues/1462>`_ from tier4/feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Change default value definition
+* Update schema comment
+* Use always_true in Event
+* Fix StopTrigger behavior
+* Fix version
+* Specify version on comment
+* Set default value for Start/StopTrigger in Act
+* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge pull request `#1454 <https://github.com/tier4/scenario_simulator_v2/issues/1454>`_ from tier4/RJD-736/autoware_msgs_support

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/act.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/act.hpp
@@ -25,18 +25,18 @@ namespace openscenario_interpreter
 {
 inline namespace syntax
 {
-/* ---- Act --------------------------------------------------------------------
- *
- *  <xsd:complexType name="Act">
- *    <xsd:sequence>
- *      <xsd:element name="ManeuverGroup" maxOccurs="unbounded" type="ManeuverGroup"/>
- *      <xsd:element name="StartTrigger" type="Trigger"/>
- *      <xsd:element name="StopTrigger" minOccurs="0" type="Trigger"/>
- *    </xsd:sequence>
- *    <xsd:attribute name="name" type="String" use="required"/>
- *  </xsd:complexType>
- *
- * -------------------------------------------------------------------------- */
+/*
+   Act(OpenSCENARIO XML 1.3)
+
+   <xsd:complexType name="Act">
+     <xsd:sequence>
+       <xsd:element name="ManeuverGroup" maxOccurs="unbounded" type="ManeuverGroup"/>
+       <xsd:element name="StartTrigger" minOccurs="0" type="Trigger"/>
+       <xsd:element name="StopTrigger" minOccurs="0" type="Trigger"/>
+     </xsd:sequence>
+     <xsd:attribute name="name" type="String" use="required"/>
+   </xsd:complexType>
+*/
 struct Act : public Scope, public StoryboardElement
 {
   explicit Act(const pugi::xml_node &, Scope &);

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/trigger.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/trigger.hpp
@@ -52,6 +52,9 @@ struct Trigger : public std::list<ConditionGroup>
   auto activeConditionGroupDescription() const -> std::vector<std::pair<std::string, std::string>>;
 
   auto evaluate() -> Object;
+
+  // Utility function for some default triggers that are always evaluated to be true
+  static auto truthy() noexcept -> Trigger;
 };
 
 auto operator<<(boost::json::object &, const Trigger &) -> boost::json::object &;

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/src/syntax/act.cpp b/openscenario/openscenario_interpreter/src/syntax/act.cpp
@@ -24,8 +24,8 @@ inline namespace syntax
 Act::Act(const pugi::xml_node & node, Scope & scope)
 : Scope(readAttribute<String>("name", node, scope), scope),
   StoryboardElement(
-    readElement<Trigger>("StartTrigger", node, local()),
-    readElement<Trigger>("StopTrigger", node, local()))  // NOTE: Optional element
+    readElement<Trigger>("StartTrigger", node, local(), Trigger::truthy()),
+    readElement<Trigger>("StopTrigger", node, local()))
 {
   traverse<1, unbounded>(node, "ManeuverGroup", [&](auto && node) {
     return elements.push_back(readStoryboardElement<ManeuverGroup>(node, local()));

diff --git a/openscenario/openscenario_interpreter/src/syntax/event.cpp b/openscenario/openscenario_interpreter/src/syntax/event.cpp
@@ -26,7 +26,7 @@ Event::Event(const pugi::xml_node & node, Scope & scope, Maneuver & maneuver)
   StoryboardElement(
     readAttribute<UnsignedInt>("maximumExecutionCount", node, local(), UnsignedInt(1)),
     // If there is no "StartTrigger" in the "Event", the default StartTrigger that always returns true is used.
-    readElement<Trigger>("StartTrigger", node, local(), Trigger({ConditionGroup()}))),
+    readElement<Trigger>("StartTrigger", node, local(), Trigger::truthy())),
   priority(readAttribute<Priority>("priority", node, local())),
   parent_maneuver(maneuver)
 {

diff --git a/openscenario/openscenario_interpreter/src/syntax/trigger.cpp b/openscenario/openscenario_interpreter/src/syntax/trigger.cpp
@@ -24,6 +24,8 @@ Trigger::Trigger(const pugi::xml_node & node, Scope & scope)
   traverse<0, unbounded>(node, "ConditionGroup", [&](auto && node) { emplace_back(node, scope); });
 }
 
+auto Trigger::truthy() noexcept -> Trigger { return Trigger{{ConditionGroup()}}; }
+
 auto Trigger::evaluate() -> Object
 {
   /* -------------------------------------------------------------------------

diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge pull request `#1454 <https://github.com/tier4/scenario_simulator_v2/issues/1454>`_ from tier4/RJD-736/autoware_msgs_support

diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_interpreter_example</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>Examples for some TIER IV OpenSCENARIO Interpreter's features</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter_msgs</name>
-  <version>7.0.0</version>
+  <version>7.0.1</version>
   <description>ROS message types for package openscenario_interpreter</description>
   <maintainer email="[email protected]">Yamasaki Tatsuya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support