Merge branch 'main' into feat-apply-autoware-prefix-for-simulator-lea…

…rning-based-vehicle-model
autowarefoundation · Jan 23, 2025 · 5378a3f · 5378a3f
2 parents 1f6113f + 8eed7e9
commit 5378a3f
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Showing 420 changed files with 16,823 additions and 2,706 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,7 +1,7 @@
 ### Automatically generated from package.xml ###
 common/autoware_adapi_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
-common/autoware_component_interface_specs/** [email protected] [email protected]
+common/autoware_component_interface_specs_universe/** [email protected] [email protected]
 common/autoware_component_interface_tools/** [email protected]
 common/autoware_component_interface_utils/** [email protected] [email protected]
 common/autoware_fake_test_node/** [email protected] [email protected] [email protected] [email protected]
@@ -51,7 +51,7 @@ evaluator/autoware_control_evaluator/** [email protected] kosuke.takeuchi@
 evaluator/autoware_planning_evaluator/** [email protected] [email protected] [email protected]
 evaluator/kinematic_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 evaluator/localization_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-evaluator/perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+evaluator/autoware_perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] yoshi.ri@tier4.jp junya.sasaki@tier4.jp
 evaluator/scenario_simulator_v2_adapter/** [email protected] [email protected] [email protected] [email protected]
 launch/tier4_autoware_api_launch/** [email protected] [email protected]
 launch/tier4_control_launch/** [email protected] [email protected]
@@ -210,16 +210,16 @@ simulator/vehicle_door_simulator/** [email protected]
 system/autoware_component_monitor/** [email protected] [email protected] [email protected]
 system/autoware_default_adapi/** [email protected] [email protected] [email protected]
 system/autoware_processing_time_checker/** [email protected] [email protected]
-system/bluetooth_monitor/** [email protected]
+system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp
 system/component_state_monitor/** [email protected]
 system/default_ad_api_helpers/ad_api_adaptors/** [email protected] [email protected] [email protected]
 system/default_ad_api_helpers/ad_api_visualizers/** [email protected] [email protected] [email protected]
 system/default_ad_api_helpers/automatic_pose_initializer/** [email protected] [email protected] [email protected]
 system/diagnostic_graph_aggregator/** [email protected]
 system/diagnostic_graph_utils/** [email protected]
-system/dummy_diag_publisher/** [email protected] [email protected]
-system/dummy_infrastructure/** [email protected]
-system/duplicated_node_checker/** [email protected] [email protected] [email protected]
+system/autoware_dummy_diag_publisher/** [email protected] [email protected]
+system/autoware_dummy_infrastructure/** [email protected]
+system/autoware_duplicated_node_checker/** [email protected] [email protected] uken.ryu@tier4.jp junya.sasaki@tier4.jp
 system/hazard_status_converter/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected] [email protected]
 system/mrm_emergency_stop_operator/** [email protected] [email protected]

diff --git a/.github/workflows/bump-version-pr.yaml b/.github/workflows/bump-version-pr.yaml
@@ -0,0 +1,80 @@
+name: bump-version-pr
+
+on:
+  workflow_dispatch:
+    inputs:
+      version_part:
+        description: Which part of the version number to bump?
+        required: true
+        default: minor
+        type: choice
+        options:
+          - major
+          - minor
+          - patch
+
+jobs:
+  bump-version-pr:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: humble
+          fetch-depth: 0
+
+      - name: Generate token
+        id: generate-token
+        uses: actions/create-github-app-token@v1
+        with:
+          app-id: ${{ secrets.APP_ID }}
+          private-key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Install dependencies
+        run: pip3 install -U catkin_tools
+        shell: bash
+
+      - name: Bump version from humble branch
+        id: bump-version-from-humble-branch
+        run: |
+          git checkout -b tmp/bot/bump_version_base
+          git fetch origin main
+          git merge origin/main
+          catkin_generate_changelog -y
+          git add *
+          git commit -m "update CHANGELOG.rst"
+          catkin_prepare_release -y --bump ${{ inputs.version_part }} --no-push
+          version=$(git describe --tags)
+          echo "version=${version}" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Create target branch
+        run: |
+          git checkout origin/main
+          git checkout -b chore/bot/bump_version
+          git merge tmp/bot/bump_version_base
+          git push origin chore/bot/bump_version --force
+        shell: bash
+
+      - name: Create PR
+        id: create-pr
+        run: >
+          gh
+          pr
+          create
+          --base=main
+          --body="Bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
+          --title="chore: bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
+          --head=chore/bot/bump_version
+        env:
+          GH_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/codecov.yaml b/codecov.yaml
@@ -122,6 +122,7 @@ component_management:
     - component_id: localization-tier-iv-maintained-packages
       name: Localization TIER IV Maintained Packages
       paths:
+        - localization/autoware_ekf_localizer/**
         - localization/autoware_gyro_odometer/**
         - localization/autoware_localization_error_monitor/**
         - localization/autoware_localization_util/**
@@ -194,7 +195,7 @@ component_management:
         - planning/autoware_external_velocity_limit_selector/**
         - planning/autoware_freespace_planner/**
         - planning/autoware_freespace_planning_algorithms/**
-        - planning/autoware_mission_planner/**
+        - planning/autoware_mission_planner_universe/**
         # - planning/autoware_objects_of_interest_marker_interface/**
         - planning/autoware_obstacle_cruise_planner/**
         # - planning/autoware_obstacle_stop_planner/**
@@ -243,7 +244,7 @@ component_management:
         - planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/**
         #### sampling_based_planner
         - planning/sampling_based_planner/autoware_bezier_sampler/**
diff --git a/common/.pages b/common/.pages
@@ -46,6 +46,6 @@ nav:
     - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
     - 'autoware_adapi_specs': common/autoware_adapi_specs
-    - 'autoware_component_interface_specs': common/autoware_component_interface_specs
+    - 'autoware_component_interface_specs_universe': common/autoware_component_interface_specs_universe
     - 'autoware_component_interface_tools': common/autoware_component_interface_tools
     - 'autoware_component_interface_utils': common/autoware_component_interface_utils
diff --git a/...e_component_interface_specs/CHANGELOG.rst → ...nt_interface_specs_universe/CHANGELOG.rst b/...e_component_interface_specs/CHANGELOG.rst → ...nt_interface_specs_universe/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package autoware_component_interface_specs
+Changelog for package autoware_component_interface_specs_universe
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.40.0 (2024-12-12)

diff --git a/..._component_interface_specs/CMakeLists.txt → ...t_interface_specs_universe/CMakeLists.txt b/..._component_interface_specs/CMakeLists.txt → ...t_interface_specs_universe/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(autoware_component_interface_specs)
+project(autoware_component_interface_specs_universe)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...oware_component_interface_specs/README.md → ...ponent_interface_specs_universe/README.md b/...oware_component_interface_specs/README.md → ...ponent_interface_specs_universe/README.md
@@ -1,3 +1,3 @@
-# autoware_component_interface_specs
+# autoware_component_interface_specs_universe
 
 This package is a specification of component interfaces.
diff --git a/...are/component_interface_specs/control.hpp → ...nent_interface_specs_universe/control.hpp b/...are/component_interface_specs/control.hpp → ...nent_interface_specs_universe/control.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__CONTROL_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__CONTROL_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace autoware::component_interface_specs::control
+namespace autoware::component_interface_specs_universe::control
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::control
+}  // namespace autoware::component_interface_specs_universe::control
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__CONTROL_HPP_
diff --git a/...omponent_interface_specs/localization.hpp → ...interface_specs_universe/localization.hpp b/...omponent_interface_specs/localization.hpp → ...interface_specs_universe/localization.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__LOCALIZATION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__LOCALIZATION_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace autoware::component_interface_specs::localization
+namespace autoware::component_interface_specs_universe::localization
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::localization
+}  // namespace autoware::component_interface_specs_universe::localization
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__LOCALIZATION_HPP_
diff --git a/...utoware/component_interface_specs/map.hpp → ...omponent_interface_specs_universe/map.hpp b/...utoware/component_interface_specs/map.hpp → ...omponent_interface_specs_universe/map.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__MAP_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__MAP_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_map_msgs/msg/map_projector_info.hpp>
 
-namespace autoware::component_interface_specs::map
+namespace autoware::component_interface_specs_universe::map
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::map
+}  // namespace autoware::component_interface_specs_universe::map
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__MAP_HPP_
diff --git a/.../component_interface_specs/perception.hpp → ...t_interface_specs_universe/perception.hpp b/.../component_interface_specs/perception.hpp → ...t_interface_specs_universe/perception.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PERCEPTION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PERCEPTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace autoware::component_interface_specs::perception
+namespace autoware::component_interface_specs_universe::perception
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::perception
+}  // namespace autoware::component_interface_specs_universe::perception
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PERCEPTION_HPP_
diff --git a/...re/component_interface_specs/planning.hpp → ...ent_interface_specs_universe/planning.hpp b/...re/component_interface_specs/planning.hpp → ...ent_interface_specs_universe/planning.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PLANNING_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PLANNING_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace autoware::component_interface_specs::planning
+namespace autoware::component_interface_specs_universe::planning
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::planning
+}  // namespace autoware::component_interface_specs_universe::planning
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__PLANNING_HPP_
diff --git a/...ware/component_interface_specs/system.hpp → ...onent_interface_specs_universe/system.hpp b/...ware/component_interface_specs/system.hpp → ...onent_interface_specs_universe/system.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__SYSTEM_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__SYSTEM_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
-namespace autoware::component_interface_specs::system
+namespace autoware::component_interface_specs_universe::system
 {
 
 struct MrmState
@@ -55,6 +55,6 @@ struct OperationModeState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::system
+}  // namespace autoware::component_interface_specs_universe::system
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__SYSTEM_HPP_
diff --git a/...are/component_interface_specs/vehicle.hpp → ...nent_interface_specs_universe/vehicle.hpp b/...are/component_interface_specs/vehicle.hpp → ...nent_interface_specs_universe/vehicle.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
-#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__VEHICLE_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__VEHICLE_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -26,7 +26,7 @@
 #include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <tier4_vehicle_msgs/msg/battery_status.hpp>
 
-namespace autoware::component_interface_specs::vehicle
+namespace autoware::component_interface_specs_universe::vehicle
 {
 
 struct SteeringStatus
@@ -95,6 +95,6 @@ struct DoorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::vehicle
+}  // namespace autoware::component_interface_specs_universe::vehicle
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS_UNIVERSE__VEHICLE_HPP_
diff --git a/...are_component_interface_specs/package.xml → ...nent_interface_specs_universe/package.xml b/...are_component_interface_specs/package.xml → ...nent_interface_specs_universe/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>autoware_component_interface_specs</name>
+  <name>autoware_component_interface_specs_universe</name>
   <version>0.40.0</version>
-  <description>The autoware_component_interface_specs package</description>
+  <description>The autoware_component_interface_specs_universe package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>

diff --git a/...onent_interface_specs/test/gtest_main.cpp → ...erface_specs_universe/test/gtest_main.cpp b/...onent_interface_specs/test/gtest_main.cpp → ...erface_specs_universe/test/gtest_main.cpp