chore: sync upstream

.github/CODEOWNERS

@@ -4,7 +4,7 @@
 common/autoware_ad_api_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_common/** opensource@apex.ai @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_geometry/** opensource@apex.ai @autowarefoundation/autoware-global-codeowners
-common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_tf2/** jit.ray.c@gmail.com @autowarefoundation/autoware-global-codeowners
 common/autoware_point_types/** taichi.higashide@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/autoware_testing/** adam.dabrowski@robotec.ai @autowarefoundation/autoware-global-codeowners
@@ -17,14 +17,14 @@ common/fake_test_node/** opensource@apex.ai @autowarefoundation/autoware-global-
 common/global_parameter_loader/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/goal_distance_calculator/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/grid_map_utils/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
-common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/path_distance_calculator/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yusuke.muramatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/polar_grid/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
-common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/signal_processing/** ali.boyali@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tensorrt_common/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -117,8 +117,8 @@ planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4
 planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
-planning/freespace_planner/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
-planning/freespace_planning_algorithms/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners

.github/workflows/deploy-docs.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - main
+      - galactic
     paths:
       - mkdocs.yaml
       - "**/*.md"

.github/workflows/pre-commit.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit:
-    if: ${{ github.event.repository.private }}
+    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
     runs-on: ubuntu-latest
     steps:
       - name: Generate token

.pre-commit-config-optional.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.0
+    rev: v3.10.3
     hooks:
       - id: markdown-link-check
         args: [--config=.markdown-link-check.json]

.pre-commit-config.yaml

@@ -1,10 +1,9 @@
 ci:
-  autofix_commit_msg: "ci(pre-commit): autofix"
-  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
+  autofix_commit_msg: "style(pre-commit): autofix"
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
+    rev: v4.4.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -19,23 +18,23 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.32.1
+    rev: v0.33.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.7.1
+    rev: v3.0.0-alpha.4
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.27.1
+    rev: v1.29.0
     hooks:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.7.1
+    rev: v0.8.0
     hooks:
       - id: flake8-ros
       - id: prettier-xacro
@@ -45,35 +44,35 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.4
+    rev: v0.9.0.2
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.5.1-1
+    rev: v3.6.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.10.1
+    rev: 5.12.0
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.6.0
+    rev: 23.1.0
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v15.0.7
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.6.0
+    rev: 1.6.1
     hooks:
       - id: cpplint
         args: [--quiet]

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp

@@ -84,6 +84,12 @@ get_shape_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
   const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
+get_2d_shape_marker_ptr(
+  const autoware_auto_perception_msgs::msg::Shape & shape_msg,
+  const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
+  const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
+
 /// \brief Convert the given polygon into a marker representing the shape in 3d
 /// \param centroid Centroid position of the shape in Object.header.frame_id frame
 /// \return Marker ptr. Id and header will have to be set by the caller
@@ -120,7 +126,7 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::Sha
 get_predicted_path_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   const autoware_auto_perception_msgs::msg::PredictedPath & predicted_path,
-  const std_msgs::msg::ColorRGBA & predicted_path_color);
+  const std_msgs::msg::ColorRGBA & predicted_path_color, const bool is_simple = false);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_path_confidence_marker_ptr(
@@ -131,10 +137,18 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_cylinder_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_cylinder_bottom_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_circle_line_list(
   const geometry_msgs::msg::Point center, const double radius,
   std::vector<geometry_msgs::msg::Point> & points, const int n);
@@ -143,9 +157,13 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_polygon_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_polygon_bottom_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_path_line_list(
   const autoware_auto_perception_msgs::msg::PredictedPath & paths,
-  std::vector<geometry_msgs::msg::Point> & points);
+  std::vector<geometry_msgs::msg::Point> & points, const bool is_simple = false);
 
 /// \brief Convert Point32 to Point
 /// \param val Point32 to be converted

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -14,6 +14,8 @@
 #ifndef OBJECT_DETECTION__OBJECT_POLYGON_DISPLAY_BASE_HPP_
 #define OBJECT_DETECTION__OBJECT_POLYGON_DISPLAY_BASE_HPP_
 
+#include "rviz_common/properties/enum_property.hpp"
+
 #include <common/color_alpha_property.hpp>
 #include <object_detection/object_polygon_detail.hpp>
 #include <rviz_common/display.hpp>
@@ -59,8 +61,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
 
   explicit ObjectPolygonDisplayBase(const std::string & default_topic)
   : m_marker_common(this),
-    m_display_3d_property{
-      "Display 3d polygon", true, "Enable/disable height visualization of the polygon", this},
+    // m_display_type_property{"Polygon Type", "3d", "Type of the polygon to display object", this},
     m_display_label_property{"Display Label", true, "Enable/disable label visualization", this},
     m_display_uuid_property{"Display UUID", true, "Enable/disable uuid visualization", this},
     m_display_pose_with_covariance_property{
@@ -79,6 +80,18 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_line_width_property{"Line Width", 0.03, "Line width of object-shape", this},
     m_default_topic{default_topic}
   {
+    m_display_type_property = new rviz_common::properties::EnumProperty(
+      "Polygon Type", "3d", "Type of the polygon to display object.", this, SLOT(updatePalette()));
+    // Option values here must correspond to indices in palette_textures_ array in onInitialize()
+    // below.
+    m_display_type_property->addOption("3d", 0);
+    m_display_type_property->addOption("2d", 1);
+    m_display_type_property->addOption("Disable", 2);
+    m_simple_visualize_mode_property = new rviz_common::properties::EnumProperty(
+      "Visualization Type", "Normal", "Simplicity of the polygon to display object.", this,
+      SLOT(updatePalette()));
+    m_simple_visualize_mode_property->addOption("Normal", 0);
+    m_simple_visualize_mode_property->addOption("Simple", 1);
     // iterate over default values to create and initialize the properties.
     for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) {
       const auto & class_property_values = map_property_it.second;
@@ -150,14 +163,22 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     const ClassificationContainerT & labels, const double & line_width) const
   {
     const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels);
-
-    if (m_display_3d_property.getBool()) {
+    if (m_display_type_property->getOptionInt() == 0) {
       return detail::get_shape_marker_ptr(shape_msg, centroid, orientation, color_rgba, line_width);
+    } else if (m_display_type_property->getOptionInt() == 1) {
+      return detail::get_2d_shape_marker_ptr(
+        shape_msg, centroid, orientation, color_rgba, line_width);
     } else {
       return std::nullopt;
     }
   }
 
+  template <typename ClassificationContainerT>
+  visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr(
+    const autoware_auto_perception_msgs::msg::Shape & shape_msg,
+    const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
+    const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
+
   /// \brief Convert given shape msg into a Marker to visualize label name
   /// \tparam ClassificationContainerT List type with ObjectClassificationMsg
   /// \param centroid Centroid position of the shape in Object.header.frame_id frame
@@ -246,7 +267,9 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     if (m_display_predicted_paths_property.getBool()) {
       const std::string uuid_str = uuid_to_string(uuid);
       const std_msgs::msg::ColorRGBA predicted_path_color = get_color_from_uuid(uuid_str);
-      return detail::get_predicted_path_marker_ptr(shape, predicted_path, predicted_path_color);
+      return detail::get_predicted_path_marker_ptr(
+        shape, predicted_path, predicted_path_color,
+        m_simple_visualize_mode_property->getOptionInt() == 1);
     } else {
       return std::nullopt;
     }
@@ -366,8 +389,10 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   std::list<rviz_common::properties::Property> m_class_group_properties;
   // Map to store class labels and its corresponding properties
   PolygonPropertyMap m_polygon_properties;
-  // Property to enable/disable height visualization of the polygon
-  rviz_common::properties::BoolProperty m_display_3d_property;
+  // Property to choose type of visualization polygon
+  rviz_common::properties::EnumProperty * m_display_type_property;
+  // Property to choose simplicity of visualization polygon
+  rviz_common::properties::EnumProperty * m_simple_visualize_mode_property;
   // Property to enable/disable label visualization
   rviz_common::properties::BoolProperty m_display_label_property;
   // Property to enable/disable uuid visualization

common/autoware_auto_perception_rviz_plugin/package.xml

@@ -7,6 +7,8 @@
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
+  <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
+
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>