Merge branch 'main' into fix/docs_traffic_light_visualization_

.cppcheck_suppressions

@@ -1,17 +1,11 @@
 *:*/test/*
 
 checkersReport
-constParameterReference
-funcArgNamesDifferent
 functionConst
 functionStatic
 missingInclude
 missingIncludeSystem
 noConstructor
-passedByValue
-redundantInitialization
-// cspell: ignore uninit
-uninitMemberVar
 unknownMacro
 unmatchedSuppression
 unreadVariable

.github/CODEOWNERS

@@ -5,6 +5,7 @@ common/autoware_grid_map_utils/** maxime.clement@tier4.jp
 common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
+common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
@@ -24,7 +25,6 @@ common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
 common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
-common/path_distance_calculator/** isamu.takagi@tier4.jp
 common/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 common/polar_grid/** yukihiro.saito@tier4.jp
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
@@ -81,19 +81,19 @@ launch/tier4_system_launch/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
-localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -131,7 +131,7 @@ perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.
 perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
 perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
@@ -167,7 +167,7 @@ planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_m
 planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp

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

@@ -7,7 +7,7 @@ on:
 
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64]
+    runs-on: [self-hosted, linux, X64, gpu]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

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

@@ -21,7 +21,7 @@ jobs:
   build-and-test-differential:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.runner }}
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -35,6 +35,10 @@ jobs:
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
+          - container-suffix: -cuda
+            runner: [self-hosted, linux, X64, cpu]
+          - container-suffix: ""
+            runner: ubuntu-latest
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

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

@@ -12,7 +12,7 @@ env:
 
 jobs:
   build-and-test:
-    runs-on: [self-hosted, linux, X64]
+    runs-on: [self-hosted, linux, X64, gpu]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

README.md

@@ -1,5 +1,7 @@
 # Autoware Universe
 
+[![codecov](https://codecov.io/github/autowarefoundation/autoware.universe/graph/badge.svg?token=KQP68YQ65D)](https://codecov.io/github/autowarefoundation/autoware.universe)
+
 ## Welcome to Autoware Universe
 
 Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.

codecov.yaml

@@ -26,3 +26,7 @@ flag_management:
         type: patch
         target: 0% # Make CI always succeed
         threshold: 100% # Make CI always succeed
+
+ignore:
+  - "**/test/*"
+  - "**/test/**/*"

common/.pages

@@ -50,7 +50,7 @@ nav:
     - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
   - 'Node':
     - 'Goal Distance Calculator': common/goal_distance_calculator/Readme
-    - 'Path Distance Calculator': common/path_distance_calculator/Readme
+    - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
     - 'autoware_ad_api_specs': common/autoware_ad_api_specs
     - 'component_interface_specs': common/component_interface_specs

common/autoware_auto_common/test/test_template_utils.cpp

@@ -27,7 +27,7 @@ struct FalseType
 
 struct Foo
 {
-  CorrectType bar(CorrectType, const CorrectType &, CorrectType *) { return CorrectType{}; }
+  static CorrectType bar(CorrectType, const CorrectType &, CorrectType *) { return CorrectType{}; }
 };
 
 template <template <typename> class Expression, typename... Ts>

common/path_distance_calculator/CMakeLists.txt → common/autoware_path_distance_calculator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(path_distance_calculator)
+project(autoware_path_distance_calculator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "PathDistanceCalculator"
+  PLUGIN "autoware::path_distance_calculator::PathDistanceCalculator"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

common/path_distance_calculator/Readme.md → common/autoware_path_distance_calculator/Readme.md

@@ -1,4 +1,4 @@
-# path_distance_calculator
+# autoware_path_distance_calculator
 
 ## Purpose
 

common/path_distance_calculator/launch/path_distance_calculator.launch.xml → common/autoware_path_distance_calculator/launch/path_distance_calculator.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
   <arg name="distance" default="~/distance"/>
-  <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
+  <node pkg="autoware_path_distance_calculator" exec="autoware_path_distance_calculator_node" name="path_distance_calculator">
     <remap from="~/input/path" to="$(var path)"/>
     <remap from="~/output/distance" to="$(var distance)"/>
   </node>

common/path_distance_calculator/package.xml → common/autoware_path_distance_calculator/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>path_distance_calculator</name>
+  <name>autoware_path_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The path_distance_calculator package</description>
+  <description>The autoware_path_distance_calculator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
 

common/path_distance_calculator/src/path_distance_calculator.cpp → common/autoware_path_distance_calculator/src/path_distance_calculator.cpp

@@ -22,6 +22,8 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::path_distance_calculator
+{
 PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & options)
 : Node("path_distance_calculator", options), self_pose_listener_(this)
 {
@@ -54,6 +56,6 @@ PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & optio
     pub_dist_->publish(msg);
   });
 }
-
+}  // namespace autoware::path_distance_calculator
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(PathDistanceCalculator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::path_distance_calculator::PathDistanceCalculator)

common/path_distance_calculator/src/path_distance_calculator.hpp → common/autoware_path_distance_calculator/src/path_distance_calculator.hpp

@@ -22,6 +22,9 @@
 #include <autoware_planning_msgs/msg/path.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
+namespace autoware::path_distance_calculator
+{
+
 class PathDistanceCalculator : public rclcpp::Node
 {
 public:
@@ -35,4 +38,6 @@ class PathDistanceCalculator : public rclcpp::Node
   autoware::universe_utils::SelfPoseListener self_pose_listener_;
 };
 
+}  // namespace autoware::path_distance_calculator
+
 #endif  // PATH_DISTANCE_CALCULATOR_HPP_

common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

@@ -104,7 +104,7 @@ get_2d_shape_marker_ptr(
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba);
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba);
 
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_existence_probability_marker_ptr(

common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -459,7 +459,7 @@ visualization_msgs::msg::Marker::SharedPtr get_uuid_marker_ptr(
 
 visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba)
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;