Merge branch 'master' into feature/publisher-with-customizable-random…

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tier4 · Feb 12, 2025 · 54cd76b · 54cd76b
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,11 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="ms.kataoka@gmail.com">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,11 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>map package for simple cross</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge pull request `#1496 <https://github.com/tier4/scenario_simulator_v2/issues/1496>`_ from tier4/fix/respawn-ego-test
+  fix: mock test launch option
+* Merge branch 'master' into fix/respawn-ego-test
+* fix: add missing test
+* fix: disable respawn mock test
+* fix: unusual word
+* fix: launch option
+* fix: respawn ego mock test
+* fix: add respawn ego test
+* Contributors: Kotaro Yoshimoto, Masaya Kataoka, satoshi-ota
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge pull request `#1500 <https://github.com/tier4/scenario_simulator_v2/issues/1500>`_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py
@@ -123,6 +123,7 @@ def launch_setup(context, *args, **kwargs):
     scenario                            = LaunchConfiguration("scenario",                               default=Path("/dev/null"))
     sensor_model                        = LaunchConfiguration("sensor_model",                           default="")
     sigterm_timeout                     = LaunchConfiguration("sigterm_timeout",                        default=8)
+    simulate_localization               = LaunchConfiguration("simulate_localization",                  default=True)
     use_sim_time                        = LaunchConfiguration("use_sim_time",                           default=False)
     vehicle_model                       = LaunchConfiguration("vehicle_model",                          default="")
     scenario_package                    = LaunchConfiguration("package",                                default="cpp_mock_scenarios")
@@ -149,6 +150,7 @@ def launch_setup(context, *args, **kwargs):
     print(f"scenario                            := {scenario.perform(context)}")
     print(f"sensor_model                        := {sensor_model.perform(context)}")
     print(f"sigterm_timeout                     := {sigterm_timeout.perform(context)}")
+    print(f"simulate_localization               := {simulate_localization.perform(context)}")
     print(f"use_sim_time                        := {use_sim_time.perform(context)}")
     print(f"vehicle_model                       := {vehicle_model.perform(context)}")
     print(f"scenario_package                    := {scenario_package.perform(context)}")
@@ -169,6 +171,7 @@ def make_parameters():
             {"rviz_config": rviz_config},
             {"sensor_model": sensor_model},
             {"sigterm_timeout": sigterm_timeout},
+            {"simulate_localization": simulate_localization},
             {"vehicle_model": vehicle_model},
             {"global_real_time_factor": global_real_time_factor},
             {"global_frame_rate": global_frame_rate},
@@ -228,6 +231,7 @@ def description():
         DeclareLaunchArgument("scenario",                            default_value=scenario                           ),
         DeclareLaunchArgument("sensor_model",                        default_value=sensor_model                       ),
         DeclareLaunchArgument("sigterm_timeout",                     default_value=sigterm_timeout                    ),
+        DeclareLaunchArgument("simulate_localization",               default_value=simulate_localization              ),
         DeclareLaunchArgument("use_sim_time",                        default_value=use_sim_time                       ),
         DeclareLaunchArgument("vehicle_model",                       default_value=vehicle_model                      ),
         DeclareLaunchArgument("scenario_package",                    default_value=scenario_package                   ),

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>C++ mock scenarios</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp b/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp
@@ -38,17 +38,39 @@ class RespawnEgoScenario : public cpp_mock_scenarios::CppScenarioNode
         goal_msg.header.frame_id = "map";
         goal_msg.pose = static_cast<geometry_msgs::msg::Pose>(goal_pose);
         api_.respawn("ego", message, goal_msg);
-      })}
+      })},
+    has_done_respawn{false}
   {
     start();
   }
 
 private:
   void onUpdate() override
   {
-    if (api_.getCurrentTime() >= 30) {
+    if (api_.getCurrentTime() >= 60) {
+      stop(cpp_mock_scenarios::Result::FAILURE);
+    }
+
+    if (api_.isInLanelet("ego", 34564, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
+
+    if (api_.getCurrentTime() >= 10 && !has_done_respawn) {
+      geometry_msgs::msg::PoseWithCovarianceStamped ego_pose;
+      ego_pose.header.frame_id = "map";
+      ego_pose.pose.pose = static_cast<geometry_msgs::msg::Pose>(
+        traffic_simulator::helper::constructCanonicalizedLaneletPose(
+          34576, 10.0, 0.0, api_.getHdmapUtils()));
+
+      geometry_msgs::msg::PoseStamped goal_pose;
+      goal_pose.header.frame_id = "map";
+      goal_pose.pose = static_cast<geometry_msgs::msg::Pose>(
+        traffic_simulator::helper::constructCanonicalizedLaneletPose(
+          34564, 10.0, 0.0, api_.getHdmapUtils()));
+      api_.respawn("ego", ego_pose, goal_pose);
+
+      has_done_respawn = true;
+    }
   }
 
   void onInitialize() override
@@ -63,6 +85,8 @@ class RespawnEgoScenario : public cpp_mock_scenarios::CppScenarioNode
 
   const rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
     new_position_subscriber;
+
+  bool has_done_respawn;
 };
 }  // namespace cpp_mock_scenarios
 

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,11 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge pull request `#1500 <https://github.com/tier4/scenario_simulator_v2/issues/1500>`_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_interpreter_example</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>Examples for some TIER IV OpenSCENARIO Interpreter's features</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity

diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter_msgs</name>
-  <version>10.0.0</version>
+  <version>10.1.0</version>
   <description>ROS message types for package openscenario_interpreter</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Yamasaki Tatsuya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.1.0 (2025-02-12)
+-------------------
+* Merge branch 'master' into fix/respawn-ego-test
+* Contributors: Kotaro Yoshimoto
+
 10.0.0 (2025-02-07)
 -------------------
 * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity