Merge pull request #162 from tier4/sync-upstream

chore: sync upstream

.github/CODEOWNERS

@@ -20,8 +20,7 @@ common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.sa
 common/motion_common/** christopherj.ho@gmail.com
 common/motion_testing/** christopherj.ho@gmail.com
 common/motion_utils/** satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp
-common/neural_networks_provider/** ambroise.vincent@arm.com
-common/osqp_interface/** maxime.clement@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/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yusuke.muramatsu@tier4.jp
 common/polar_grid/** yukihiro.saito@tier4.jp
@@ -70,13 +69,11 @@ launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp
 launch/tier4_simulator_launch/** keisuke.shima@tier4.jp
 launch/tier4_system_launch/** fumihito.ito@tier4.jp kenji.miyake@tier4.jp
 launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
-localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp
+localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** yamato.ando@tier4.jp
 localization/initial_pose_button_panel/** yamato.ando@tier4.jp
 localization/localization_error_monitor/** yamato.ando@tier4.jp
-localization/ndt/** yamato.ando@tier4.jp
-localization/ndt_pcl_modified/** yamato.ando@tier4.jp
-localization/ndt_scan_matcher/** yamato.ando@tier4.jp
+localization/ndt_scan_matcher/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp yamato.ando@tier4.jp
 localization/pose2twist/** yamato.ando@tier4.jp
 localization/pose_initializer/** isamu.takagi@tier4.jp yamato.ando@tier4.jp
 localization/stop_filter/** koji.minoda@tier4.jp yamato.ando@tier4.jp
@@ -92,7 +89,7 @@ perception/detection_by_tracker/** yukihiro.saito@tier4.jp
 perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp
 perception/euclidean_cluster/** yukihiro.saito@tier4.jp
 perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp
-perception/ground_segmentation/** abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/heatmap_visualizer/** kotaro.uetake@tier4.jp
 perception/image_projection_based_fusion/** yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp
 perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
@@ -119,7 +116,7 @@ planning/costmap_generator/** kenji.miyake@tier4.jp
 planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp
 planning/freespace_planner/** takamasa.horibe@tier4.jp
 planning/freespace_planning_algorithms/** takamasa.horibe@tier4.jp
-planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
+planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp
 planning/obstacle_avoidance_planner/** takayuki.murooka@tier4.jp
 planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp
@@ -139,14 +136,15 @@ sensing/image_diagnostics/** dai.nguyen@tier4.jp
 sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp
 sensing/imu_corrector/** yamato.ando@tier4.jp
 sensing/livox/livox_tag_filter/** kenji.miyake@tier4.jp
-sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 sensing/tier4_pcl_extensions/** ryu.yamamoto@tier4.jp
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp
 simulator/fault_injection/** keisuke.shima@tier4.jp
 simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp
 system/ad_service_state_monitor/** kenji.miyake@tier4.jp
 system/bluetooth_monitor/** fumihito.ito@tier4.jp
+system/component_state_monitor/** isamu.takagi@tier4.jp
 system/default_ad_api/** isamu.takagi@tier4.jp
 system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp
 system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp

.pre-commit-config.yaml

@@ -79,4 +79,12 @@ repos:
         args: [--quiet]
         exclude: .cu
 
-exclude: .svg
+  - repo: local
+    hooks:
+      - id: prettier-svg
+        name: prettier svg
+        description: Apply Prettier with plugin-xml to svg.
+        entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
+        language: node
+        files: .svg$
+        additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]

common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp

@@ -17,21 +17,21 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/motion_state.hpp>
-#include <autoware_ad_api_msgs/srv/accept_start.hpp>
+#include <autoware_adapi_v1_msgs/msg/motion_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
 
 namespace autoware_ad_api::motion
 {
 
 struct AcceptStart
 {
-  using Service = autoware_ad_api_msgs::srv::AcceptStart;
+  using Service = autoware_adapi_v1_msgs::srv::AcceptStart;
   static constexpr char name[] = "/api/motion/accept_start";
 };
 
 struct State
 {
-  using Message = autoware_ad_api_msgs::msg::MotionState;
+  using Message = autoware_adapi_v1_msgs::msg::MotionState;
   static constexpr char name[] = "/api/motion/state";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp

@@ -95,6 +95,9 @@ class Client
 #endif
   }
 
+  /// Check if the service is ready.
+  bool service_is_ready() const { return client_->service_is_ready(); }
+
 private:
   RCLCPP_DISABLE_COPY(Client)
   typename WrapType::SharedPtr client_;

common/perception_utils/test/src/test_matching.cpp

@@ -97,8 +97,8 @@ TEST(perception_utils, test_get2dGeneralizedIoU)
   // TODO(Shin-kyoto):
   // get2dGeneralizedIoU uses outer points of each polygon.
   // But these points contain an sampling error of outer line,
-  // so get2dGeneralizedIoU icludes an error of about 0.03.
-  // Threfore, in this test, epsilon is set to 0.04.
+  // so get2dGeneralizedIoU includes an error of about 0.03.
+  // Therefore, in this test, epsilon is set to 0.04.
   constexpr double epsilon_giou = 4 * 1e-02;
   const double quart_circle = 0.16237976320958225;
 

common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp

@@ -328,7 +328,7 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg
     std::max(min_display_size, std::min(msg->statuses.size(), max_display_size)));
   int cnt = 0;
   for (auto status : msg->statuses) {
-    if (static_cast<size_t>(cnt) > max_display_size) return;
+    if (static_cast<size_t>(cnt) >= max_display_size) return;
     // uuid
     {
       std::stringstream uuid;

common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp

@@ -109,8 +109,10 @@ ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent
 
 void ManualController::update()
 {
+  if (!raw_node_) return;
   AckermannControlCommand ackermann;
   {
+    ackermann.stamp = raw_node_->get_clock()->now();
     ackermann.lateral.steering_tire_angle = steering_angle_;
     ackermann.longitudinal.speed = cruise_velocity_;
     if (current_acceleration_) {