Merge pull request #691 from tier4/sync-upstream

chore: sync upstream

.cspell-partial.json

@@ -1,6 +1,5 @@
 {
   "ignorePaths": [
-    "**/common/**",
     "**/control/**",
     "**/evaluator/**",
     "**/launch/**",

.github/CODEOWNERS

@@ -2,27 +2,28 @@
 
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected] [email protected] [email protected]
-common/autoware_auto_common/** [email protected]
+common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_auto_geometry/** [email protected]
 common/autoware_auto_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected]
-common/autoware_auto_tf2/** [email protected]
+common/autoware_auto_tf2/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_point_types/** [email protected]
-common/autoware_testing/** [email protected]
+common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
 common/component_interface_specs/** [email protected] [email protected] [email protected] [email protected]
 common/component_interface_tools/** [email protected] [email protected] [email protected]
 common/component_interface_utils/** [email protected] [email protected] [email protected] [email protected]
 common/cuda_utils/** [email protected] [email protected]
-common/fake_test_node/** [email protected]
+common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
 common/global_parameter_loader/** [email protected]
 common/goal_distance_calculator/** [email protected]
 common/grid_map_utils/** [email protected]
 common/interpolation/** [email protected] [email protected] [email protected]
 common/kalman_filter/** [email protected] [email protected] [email protected]
 common/motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+common/object_recognition_utils/** [email protected] [email protected] [email protected] [email protected]
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/path_distance_calculator/** [email protected] [email protected] [email protected]
-common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp [email protected]
+common/perception_utils/** mingyu.li@tier4.jp satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/rtc_manager_rviz_plugin/** [email protected] [email protected]
@@ -45,8 +46,9 @@ common/tier4_simulated_clock_rviz_plugin/** [email protected]
 common/tier4_state_rviz_plugin/** [email protected] [email protected]
 common/tier4_traffic_light_rviz_plugin/** [email protected]
 common/tier4_vehicle_rviz_plugin/** [email protected]
-common/time_utils/** [email protected]
+common/time_utils/** [email protected] [email protected] [email protected]
 common/traffic_light_recognition_marker_publisher/** [email protected] [email protected] [email protected]
+common/traffic_light_utils/** [email protected] [email protected]
 common/trtexec_vendor/** [email protected] [email protected]
 common/tvm_utility/** [email protected] [email protected]
 control/autonomous_emergency_braking/** [email protected] [email protected]
@@ -64,10 +66,9 @@ control/trajectory_follower_base/** [email protected] takayuki.murooka@ti
 control/trajectory_follower_node/** [email protected] [email protected]
 control/vehicle_cmd_gate/** [email protected] [email protected]
 evaluator/diagnostic_converter/** [email protected] [email protected] [email protected]
-evaluator/kinematic_evaluator/** [email protected]
-evaluator/localization_evaluator/** [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]
 evaluator/planning_evaluator/** [email protected] [email protected]
-launch/map4_localization_launch/** [email protected] [email protected] [email protected] [email protected] [email protected]
 launch/tier4_autoware_api_launch/** [email protected] [email protected] [email protected] [email protected]
 launch/tier4_control_launch/** [email protected] [email protected]
 launch/tier4_localization_launch/** [email protected] [email protected] [email protected] [email protected]
@@ -116,36 +117,44 @@ perception/map_based_prediction/** [email protected] [email protected]
 perception/multi_object_tracker/** [email protected] [email protected]
 perception/object_merger/** [email protected] [email protected]
 perception/object_range_splitter/** [email protected]
+perception/object_velocity_splitter/** [email protected] [email protected] [email protected]
 perception/occupancy_grid_map_outlier_filter/** [email protected] [email protected] [email protected]
-perception/probabilistic_occupancy_grid_map/** [email protected] [email protected]
+perception/probabilistic_occupancy_grid_map/** [email protected] [email protected] [email protected]
+perception/radar_crossing_objects_noise_filter/** [email protected] [email protected] [email protected]
 perception/radar_fusion_to_detected_object/** [email protected] [email protected]
+perception/radar_object_clustering/** [email protected] [email protected] [email protected]
+perception/radar_object_tracker/** [email protected] [email protected] [email protected]
 perception/radar_tracks_msgs_converter/** [email protected] [email protected]
 perception/shape_estimation/** [email protected] [email protected]
+perception/simple_object_merger/** [email protected] [email protected] [email protected]
+perception/tensorrt_classifier/** [email protected]
 perception/tensorrt_yolo/** [email protected]
 perception/tensorrt_yolox/** [email protected] [email protected] [email protected]
 perception/traffic_light_arbiter/** [email protected]
 perception/traffic_light_classifier/** [email protected] [email protected]
 perception/traffic_light_fine_detector/** [email protected]
 perception/traffic_light_map_based_detector/** [email protected]
 perception/traffic_light_multi_camera_fusion/** [email protected]
+perception/traffic_light_occlusion_predictor/** [email protected]
 perception/traffic_light_ssd_fine_detector/** [email protected]
 perception/traffic_light_visualization/** [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_blind_spot_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_detection_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_no_drivable_lane_module/** [email protected]
+planning/behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected] [email protected]
 planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/freespace_planner/** [email protected] [email protected] [email protected] [email protected]
@@ -156,6 +165,7 @@ planning/obstacle_avoidance_planner/** [email protected] takamasa.horibe@
 planning/obstacle_cruise_planner/** [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
+planning/path_smoother/** [email protected] [email protected]
 planning/planning_debug_tools/** [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
@@ -180,6 +190,7 @@ sensing/pointcloud_preprocessor/** [email protected] shunsuke.miura@tier4
 sensing/radar_scan_to_pointcloud2/** [email protected] [email protected]
 sensing/radar_static_pointcloud_filter/** [email protected] [email protected]
 sensing/radar_threshold_filter/** [email protected] [email protected]
+sensing/radar_tracks_noise_filter/** [email protected] [email protected]
 sensing/tier4_pcl_extensions/** [email protected]
 sensing/vehicle_velocity_converter/** [email protected]
 simulator/dummy_perception_publisher/** [email protected]
@@ -201,7 +212,7 @@ system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]
 system/velodyne_monitor/** [email protected]
-tools/simulator_test/simulator_compatibility_test/** [email protected]
+tools/simulator_test/simulator_compatibility_test/** [email protected] [email protected] [email protected]
 vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]

.github/workflows/openai-pr-reviewer.yaml

@@ -0,0 +1,31 @@
+name: Code Review By ChatGPT
+
+permissions:
+  contents: read
+  pull-requests: write
+
+on:
+  pull_request:
+  pull_request_review_comment:
+    types: [created]
+
+concurrency:
+  group: ${{ github.repository }}-${{ github.event.number || github.head_ref ||
+    github.sha }}-${{ github.workflow }}-${{ github.event_name ==
+    'pull_request_review_comment' && 'pr_comment' || 'pr' }}
+  cancel-in-progress: ${{ github.event_name != 'pull_request_review_comment' }}
+
+jobs:
+  review:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: fluxninja/openai-pr-reviewer@latest
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
+        with:
+          debug: false
+          review_simple_changes: false
+          review_comment_lgtm: false
+          openai_light_model: gpt-3.5-turbo-0613
+          openai_heavy_model: gpt-3.5-turbo-0613 # The default is to use GPT4, which needs to be changed to join ChatGPT Plus.

control/mpc_lateral_controller/CMakeLists.txt

@@ -17,7 +17,7 @@ ament_auto_add_library(${MPC_LAT_CON_LIB} SHARED
   src/mpc_trajectory.cpp
   src/mpc_utils.cpp
   src/qp_solver/qp_solver_osqp.cpp
-  src/qp_solver/qp_solver_unconstr_fast.cpp
+  src/qp_solver/qp_solver_unconstraint_fast.cpp
   src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
   src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
   src/vehicle_model/vehicle_model_bicycle_kinematics.cpp

control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp → control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
+#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
 
 #include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 
@@ -55,4 +55,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
     const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) override;
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
+#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_

control/mpc_lateral_controller/model_predictive_control_algorithm.md

@@ -344,7 +344,7 @@ $$
 \end{align}
 $$
 
-Discretisizing $\dot{u}$ as $\left(u_{k} - u_{k-1}\right)/\text{d}t$ and multiply both sides by dt the resulting constraint become linear and convex
+Discretizing $\dot{u}$ as $\left(u_{k} - u_{k-1}\right)/\text{d}t$ and multiply both sides by dt the resulting constraint become linear and convex
 
 $$
 \begin{align}

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -16,7 +16,7 @@
 
 #include "motion_utils/motion_utils.hpp"
 #include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"

control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstr_fast.cpp → control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 
 #include <Eigen/Dense>
 

control/mpc_lateral_controller/test/test_mpc.cpp

@@ -15,7 +15,7 @@
 #include "gtest/gtest.h"
 #include "mpc_lateral_controller/mpc.hpp"
 #include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"

control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp

@@ -47,18 +47,18 @@ namespace pure_pursuit
 class PurePursuit
 {
 public:
-  PurePursuit() : lookahead_distance_(0.0), clst_thr_dist_(3.0), clst_thr_ang_(M_PI / 4) {}
+  PurePursuit() : lookahead_distance_(0.0), closest_thr_dist_(3.0), closest_thr_ang_(M_PI / 4) {}
   ~PurePursuit() = default;
 
   rclcpp::Logger logger = rclcpp::get_logger("pure_pursuit");
   // setter
   void setCurrentPose(const geometry_msgs::msg::Pose & msg);
   void setWaypoints(const std::vector<geometry_msgs::msg::Pose> & msg);
   void setLookaheadDistance(double ld) { lookahead_distance_ = ld; }
-  void setClosestThreshold(double clst_thr_dist, double clst_thr_ang)
+  void setClosestThreshold(double closest_thr_dist, double closest_thr_ang)
   {
-    clst_thr_dist_ = clst_thr_dist;
-    clst_thr_ang_ = clst_thr_ang;
+    closest_thr_dist_ = closest_thr_dist;
+    closest_thr_ang_ = closest_thr_ang;
   }
 
   // getter
@@ -74,7 +74,7 @@ class PurePursuit
   geometry_msgs::msg::Point loc_next_tgt_;
 
   // variables got from outside
-  double lookahead_distance_, clst_thr_dist_, clst_thr_ang_;
+  double lookahead_distance_, closest_thr_dist_, closest_thr_ang_;
   std::shared_ptr<std::vector<geometry_msgs::msg::Pose>> curr_wps_ptr_;
   std::shared_ptr<geometry_msgs::msg::Pose> curr_pose_ptr_;
 

control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp

@@ -55,16 +55,17 @@ std::pair<bool, double> PurePursuit::run()
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());
   }
 
-  auto clst_pair = planning_utils::findClosestIdxWithDistAngThr(
-    *curr_wps_ptr_, *curr_pose_ptr_, clst_thr_dist_, clst_thr_ang_);
+  auto closest_pair = planning_utils::findClosestIdxWithDistAngThr(
+    *curr_wps_ptr_, *curr_pose_ptr_, closest_thr_dist_, closest_thr_ang_);
 
-  if (!clst_pair.first) {
+  if (!closest_pair.first) {
     RCLCPP_WARN(
-      logger, "cannot find, curr_bool: %d, clst_idx: %d", clst_pair.first, clst_pair.second);
+      logger, "cannot find, curr_bool: %d, closest_idx: %d", closest_pair.first,
+      closest_pair.second);
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());
   }
 
-  int32_t next_wp_idx = findNextPointIdx(clst_pair.second);
+  int32_t next_wp_idx = findNextPointIdx(closest_pair.second);
   if (next_wp_idx == -1) {
     RCLCPP_WARN(logger, "lost next waypoint");
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());