Ci/add cpp check

.cppcheck_suppressions

@@ -0,0 +1,59 @@
+arrayIndexThenCheck
+assignBoolToFloat
+checkersReport
+constParameterPointer
+constParameterReference
+constStatement
+constVariable
+constVariablePointer
+constVariableReference
+containerOutOfBounds
+cstyleCast
+ctuOneDefinitionRuleViolation
+current_deleted_index
+duplicateAssignExpression
+duplicateBranch
+duplicateBreak
+duplicateCondition
+duplicateExpression
+funcArgNamesDifferent
+functionConst
+functionStatic
+invalidPointerCast
+knownConditionTrueFalse
+missingInclude
+missingIncludeSystem
+multiCondition
+noConstructor
+noExplicitConstructor
+noValidConfiguration
+obstacle_cruise_planner
+passedByValue
+preprocessorErrorDirective
+redundantAssignment
+redundantContinue
+redundantIfRemove
+redundantInitialization
+returnByReference
+selfAssignment
+shadowArgument
+shadowFunction
+shadowVariable
+stlFindInsert
+syntaxError
+uninitMemberVar
+unknownMacro
+unmatchedSuppression
+unpreciseMathCall
+unreadVariable
+unsignedLessThanZero
+unusedFunction
+unusedScopedObject
+unusedStructMember
+unusedVariable
+useInitializationList
+useStlAlgorithm
+uselessCallsSubstr
+uselessOverride
+variableScope
+virtualCallInConstructor

.github/workflows/cppcheck-all.yaml

@@ -0,0 +1,60 @@
+name: cppcheck-all
+
+on:
+  pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  cppcheck-all:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libpcre3-dev
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from source
+      - name: Install Cppcheck from source
+        run: |
+          mkdir /tmp/cppcheck
+          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
+          cd /tmp/cppcheck
+          git checkout 2.14.1
+          mkdir build
+          cd build
+          cmake ..
+          make -j $(nproc)
+          sudo make install
+
+      - name: Run Cppcheck on all files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+        shell: bash
+
+      - name: Count errors by error ID and severity
+        run: |
+          #!/bin/bash
+          temp_file=$(mktemp)
+          grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
+          echo "Error counts by error ID and severity:"
+          sort "$temp_file" | uniq -c
+          rm "$temp_file"
+        shell: bash
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.xml
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

.github/workflows/cppcheck-differential.yaml

@@ -0,0 +1,65 @@
+name: cppcheck-differential
+
+on:
+  pull_request:
+
+jobs:
+  cppcheck-differential:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libpcre3-dev
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from source
+      - name: Install Cppcheck from source
+        run: |
+          mkdir /tmp/cppcheck
+          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
+          cd /tmp/cppcheck
+          git checkout 2.14.1
+          mkdir build
+          cd build
+          cmake ..
+          make -j $(nproc)
+          sudo make install
+
+      - name: Get changed files
+        id: changed-files
+        run: |
+          git fetch origin ${{ github.base_ref }} --depth=1
+          git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
+          cat changed_files.txt
+
+      - name: Run Cppcheck on changed files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
+          if [ -n "$files" ]; then
+            echo "Running Cppcheck on changed files: $files"
+            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
+          else
+            echo "No C++ files changed."
+            touch cppcheck-report.txt
+          fi
+        shell: bash
+
+      - name: Show cppcheck-report result
+        run: |
+          cat cppcheck-report.txt
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.txt
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

map/map_height_fitter/package.xml

@@ -18,7 +18,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>

map/map_height_fitter/src/map_height_fitter.cpp

@@ -17,7 +17,7 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_map_msgs/srv/get_partial_point_cloud_map.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -38,7 +38,7 @@ struct MapHeightFitter::Impl
 
   explicit Impl(rclcpp::Node * node);
   void on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
-  void on_vector_map(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
+  void on_vector_map(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
   bool get_partial_point_cloud_map(const Point & point);
   double get_ground_height(const Point & point) const;
   std::optional<Point> fit(const Point & position, const std::string & frame);
@@ -59,7 +59,7 @@ struct MapHeightFitter::Impl
 
   // for fitting by vector_map_loader
   lanelet::LaneletMapPtr vector_map_;
-  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_vector_map_;
+  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_vector_map_;
 };
 
 MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), node_(node)
@@ -95,7 +95,7 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n
 
   } else if (fit_target_ == "vector_map") {
     const auto durable_qos = rclcpp::QoS(1).transient_local();
-    sub_vector_map_ = node_->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+    sub_vector_map_ = node_->create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
       "~/vector_map", durable_qos,
       std::bind(&MapHeightFitter::Impl::on_vector_map, this, std::placeholders::_1));
 
@@ -163,7 +163,7 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
 }
 
 void MapHeightFitter::Impl::on_vector_map(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg)
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
 {
   vector_map_ = std::make_shared<lanelet::LaneletMap>();
   lanelet::utils::conversion::fromBinMsg(*msg, vector_map_);

map/map_loader/README.md

@@ -130,7 +130,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 ### Feature
 
-lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_auto_mapping_msgs/HADMapBin message.
+lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message.
 The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`.
 Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types.
 
@@ -144,7 +144,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Published Topics
 
-- ~output/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : Binary data of loaded Lanelet2 Map
+- ~output/lanelet2_map (autoware_map_msgs/LaneletMapBin) : Binary data of loaded Lanelet2 Map
 
 ### Parameters
 
@@ -156,15 +156,15 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Feature
 
-lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray.
+lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
 
 ### How to Run
 
 `ros2 run map_loader lanelet2_map_visualization`
 
 ### Subscribed Topics
 
-- ~input/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : binary data of Lanelet2 Map
+- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
 
 ### Published Topics
 

map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp

@@ -19,15 +19,15 @@
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
 #include <lanelet2_projection/UTM.h>
 
 #include <memory>
 #include <string>
 
-using autoware_auto_mapping_msgs::msg::HADMapBin;
+using autoware_map_msgs::msg::LaneletMapBin;
 using tier4_map_msgs::msg::MapProjectorInfo;
 
 class Lanelet2MapLoaderNode : public rclcpp::Node
@@ -38,7 +38,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   static lanelet::LaneletMapPtr load_map(
     const std::string & lanelet2_filename,
     const tier4_map_msgs::msg::MapProjectorInfo & projector_info);
-  static HADMapBin create_map_bin_msg(
+  static LaneletMapBin create_map_bin_msg(
     const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
     const rclcpp::Time & now);
 
@@ -48,7 +48,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
 
   component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
-  rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
+  rclcpp::Publisher<LaneletMapBin>::SharedPtr pub_map_bin_;
 };
 
 #endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_

map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp

@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <string>
@@ -29,12 +29,12 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
   explicit Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_map_bin_;
+  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_map_bin_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_marker_;
 
   bool viz_lanelets_centerline_;
 
-  void onMapBin(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
+  void onMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
 };
 
 #endif  // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_

map/map_loader/package.xml

@@ -19,7 +19,6 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -86,7 +86,7 @@ void Lanelet2MapLoaderNode::on_map_projector_info(
 
   // create publisher and publish
   pub_map_bin_ =
-    create_publisher<HADMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
+    create_publisher<LaneletMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
   pub_map_bin_->publish(map_bin_msg);
   RCLCPP_INFO(get_logger(), "Succeeded to load lanelet2_map. Map is published.");
 }
@@ -141,18 +141,18 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
   return nullptr;
 }
 
-HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
+LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
   const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now)
 {
   std::string format_version{}, map_version{};
   lanelet::io_handlers::AutowareOsmParser::parseVersions(
     lanelet2_filename, &format_version, &map_version);
 
-  HADMapBin map_bin_msg;
+  LaneletMapBin map_bin_msg;
   map_bin_msg.header.stamp = now;
   map_bin_msg.header.frame_id = "map";
-  map_bin_msg.format_version = format_version;
-  map_bin_msg.map_version = map_version;
+  map_bin_msg.version_map_format = format_version;
+  map_bin_msg.version_map = map_version;
   lanelet::utils::conversion::toBinMsg(map, &map_bin_msg);
 
   return map_bin_msg;