diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7e76a883c36e9..4cff38cfeb145 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -10,17 +10,13 @@ common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp -common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp -common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp -common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp common/autoware_polar_grid/** yukihiro.saito@tier4.jp common/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp -common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp +common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp yukinari.hisaki.2@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp @@ -31,6 +27,7 @@ common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@ common/tier4_api_utils/** isamu.takagi@tier4.jp control/autoware_autonomous_emergency_braking/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp +control/autoware_control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp junya.sasaki@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -39,20 +36,19 @@ control/autoware_mpc_lateral_controller/** kyoichi.sugahara@tier4.jp takamasa.ho control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp +control/autoware_predicted_path_checker/** berkay@leodrive.ai junya.sasaki@tier4.jp control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp -control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp +evaluator/autoware_kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp junya.sasaki@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +evaluator/autoware_localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai junya.sasaki@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp junya.sasaki@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp -evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp junya.sasaki@tier4.jp -evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp +evaluator/autoware_scenario_simulator_v2_adapter/** junya.sasaki@tier4.jp kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -70,7 +66,6 @@ localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/* localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/** shintaro.sakoda@tier4.jp yamato.ando@tier4.jp localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/autoware_localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_pose_covariance_modifier/** melike@leodrive.ai @@ -134,12 +129,13 @@ planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@ planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +planning/autoware_mission_planner_universe/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp +planning/autoware_planning_factor_interface/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp planning/autoware_planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp @@ -147,7 +143,6 @@ planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.a planning/autoware_route_handler/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_rtc_interface/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp planning/autoware_scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/autoware_surround_obstacle_checker/** go.sakayori@tier4.jp satoshi.ota@tier4.jp planning/autoware_velocity_smoother/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp makoto.kurihara@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp @@ -155,7 +150,7 @@ planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @@ -181,8 +176,8 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** alqudah.mohammad@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp @@ -201,47 +196,49 @@ sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com -simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp -simulator/fault_injection/** keisuke.shima@tier4.jp -simulator/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tier4.jp -simulator/autoware_simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp kotaro.yoshimoto@tier4.jp junya.sasaki@tier4.jp -simulator/tier4_dummy_object_rviz_plugin/** yukihiro.saito@tier4.jp +simulator/autoware_dummy_perception_publisher/** junya.sasaki@tier4.jp yukihiro.saito@tier4.jp +simulator/autoware_fault_injection/** junya.sasaki@tier4.jp keisuke.shima@tier4.jp +simulator/autoware_learning_based_vehicle_model/** junya.sasaki@tier4.jp maxime.clement@tier4.jp nagy.tomas@tier4.jp +simulator/autoware_simple_planning_simulator/** junya.sasaki@tier4.jp kotaro.yoshimoto@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp simulator/autoware_vehicle_door_simulator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp +simulator/tier4_dummy_object_rviz_plugin/** yukihiro.saito@tier4.jp +system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp system/autoware_component_monitor/** baris@leodrive.ai memin@leodrive.ai yavuz@leodrive.ai system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_default_adapi_helpers/autoware_adapi_adaptors/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_default_adapi_helpers/autoware_adapi_visualizers/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_diagnostic_graph_utils/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp +system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp +system/autoware_dummy_infrastructure/** junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp +system/autoware_duplicated_node_checker/** junya.sasaki@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp +system/autoware_hazard_status_converter/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp +system/autoware_mrm_comfortable_stop_operator/** junya.sasaki@tier4.jp makoto.kurihara@tier4.jp tomohito.ando@tier4.jp +system/autoware_mrm_emergency_stop_operator/** junya.sasaki@tier4.jp makoto.kurihara@tier4.jp tomohito.ando@tier4.jp +system/autoware_mrm_handler/** junya.sasaki@tier4.jp makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp -system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp +system/autoware_system_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp tetsuhiro.kawaguchi@tier4.jp +system/autoware_topic_relay_controller/** makoto.kurihara@tier4.jp tetsuhiro.kawaguchi@tier4.jp +system/autoware_velodyne_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp system/component_state_monitor/** isamu.takagi@tier4.jp -system/autoware_default_adapi_helpers/autoware_adapi_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp -system/autoware_default_adapi_helpers/autoware_adapi_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp -system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp -system/diagnostic_graph_utils/** isamu.takagi@tier4.jp -system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp -system/autoware_dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp -system/autoware_duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp junya.sasaki@tier4.jp -system/hazard_status_converter/** isamu.takagi@tier4.jp -system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp -system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp -system/mrm_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/system_diagnostic_monitor/** isamu.takagi@tier4.jp -system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp -system/velodyne_monitor/** fumihito.ito@tier4.jp tools/reaction_analyzer/** berkay@leodrive.ai vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp +visualization/autoware_bag_time_manager_rviz_plugin/** junya.sasaki@tier4.jp taiki.tanaka@tier4.jp visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/** satoshi.ota@tier4.jp takayuki.murooka@tier4.jp visualization/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp -visualization/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp visualization/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp visualization/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp visualization/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp visualization/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp +visualization/tier4_planning_factor_rviz_plugin/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp visualization/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp visualization/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai visualization/tier4_system_rviz_plugin/** koji.minoda@tier4.jp diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index bbe2ac512d70d..ac4f6f05ed9ec 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -6,14 +6,12 @@ name: github-release on: push: - branches: - - beta/v* tags: - - v* + - "[0-9]+.[0-9]+.[0-9]+" workflow_dispatch: inputs: - beta-branch-or-tag-name: - description: The name of the beta branch or tag to release + tag-name: + description: The name of the tag to release type: string required: true @@ -25,36 +23,24 @@ jobs: id: set-tag-name run: | if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then - REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + REF_NAME="${{ github.event.inputs.tag-name }}" else REF_NAME="${{ github.ref_name }}" fi - echo "ref-name=$REF_NAME" >> $GITHUB_OUTPUT - echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT + echo "tag-name=$REF_NAME" >> $GITHUB_OUTPUT - name: Check out repository uses: actions/checkout@v4 with: fetch-depth: 0 - ref: ${{ steps.set-tag-name.outputs.ref-name }} - - - name: Set target name for beta branches - id: set-target-name - run: | - if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then - echo "target-name=${{ steps.set-tag-name.outputs.ref-name }}" >> $GITHUB_OUTPUT - fi - - - name: Create a local tag for beta branches - run: | - if [ "${{ steps.set-target-name.outputs.target-name }}" != "" ]; then - git tag "${{ steps.set-tag-name.outputs.tag-name }}" - fi + ref: ${{ steps.set-tag-name.outputs.tag-name }} - name: Run generate-changelog id: generate-changelog uses: autowarefoundation/autoware-github-actions/generate-changelog@v1 + with: + git-cliff-args: --tag-pattern "^(\d+)\.(\d+)\.(\d+)$" --latest - name: Select verb id: select-verb @@ -74,7 +60,6 @@ jobs: run: | gh release ${{ steps.select-verb.outputs.verb }} "${{ steps.set-tag-name.outputs.tag-name }}" \ --draft \ - --target "${{ steps.set-target-name.outputs.target-name }}" \ --title "Release ${{ steps.set-tag-name.outputs.tag-name }}" \ --notes "$NOTES" env: diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index 7693074353d9f..e359542e5d0f1 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_adapi_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_default_adapi): release adapi v1.6.0 (`#9704 `_) + * feat: reject clearing route during autonomous mode + * feat: modify check and relay door service + * fix door condition + * fix error and add option + * update v1.6.0 + --------- +* Contributors: Fumiya Watanabe, Takagi, Isamu + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml index 5424d5bad52d5..6f02fafe11269 100644 --- a/common/autoware_adapi_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -2,7 +2,7 @@ autoware_adapi_specs - 0.40.0 + 0.41.0 The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index 63f0fe2ac83e3..ec8415f295fbe 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_auto_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index ccdcd4bab8608..f3bdd38dbc37b 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 0.40.0 + 0.41.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs_universe/CHANGELOG.rst b/common/autoware_component_interface_specs_universe/CHANGELOG.rst index cf03005715b76..50b1f1a414fec 100644 --- a/common/autoware_component_interface_specs_universe/CHANGELOG.rst +++ b/common/autoware_component_interface_specs_universe/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_component_interface_specs_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_component_interface_specs_universe/package.xml b/common/autoware_component_interface_specs_universe/package.xml index 8e29921b1a873..456eca42701a0 100644 --- a/common/autoware_component_interface_specs_universe/package.xml +++ b/common/autoware_component_interface_specs_universe/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_specs_universe - 0.40.0 + 0.41.0 The autoware_component_interface_specs_universe package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index b17fa431b27bb..bbe2c681e09c9 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_component_interface_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index e38b048e22ebe..20919e15acd13 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_tools - 0.40.0 + 0.41.0 The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index d19e72f19e469..750b2b246ca45 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_component_interface_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml index 0bc51ee211d50..8a28af9c82acf 100755 --- a/common/autoware_component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_utils - 0.40.0 + 0.41.0 The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst index 5bc3669a5aa27..7ba813f999f5e 100644 --- a/common/autoware_fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_fake_test_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml index 0ae881e4a41ba..039590b934227 100644 --- a/common/autoware_fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -2,7 +2,7 @@ autoware_fake_test_node - 0.40.0 + 0.41.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst index d778018320271..26f9d8d8e71d8 100644 --- a/common/autoware_global_parameter_loader/CHANGELOG.rst +++ b/common/autoware_global_parameter_loader/CHANGELOG.rst @@ -1,7 +1,10 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package global_parameter_loader +Changelog for package autoware_global_parameter_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml index 8238e5852284f..9d2c5be940d8c 100644 --- a/common/autoware_global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -2,7 +2,7 @@ autoware_global_parameter_loader - 0.40.0 + 0.41.0 The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst index e9176b6524049..2df0c43506d7d 100644 --- a/common/autoware_glog_component/CHANGELOG.rst +++ b/common/autoware_glog_component/CHANGELOG.rst @@ -1,7 +1,10 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package glog_component +Changelog for package autoware_glog_component ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_glog_component/package.xml b/common/autoware_glog_component/package.xml index eab95fa8944d3..f80511f8eb17a 100644 --- a/common/autoware_glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -2,7 +2,7 @@ autoware_glog_component - 0.40.0 + 0.41.0 The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index df190270e02ab..ad226c45ce31a 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_goal_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_goal_distance_calculator)!: tier4_debug_msgs to autoware_internal_debug_msgs for autoware_goal_distance_calculator (`#9833 `_) +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml index 9b36f0a40dd52..60de6e02e7f45 100644 --- a/common/autoware_goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_goal_distance_calculator - 0.40.0 + 0.41.0 The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index 7a1b19b90a958..afb807859f8b6 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_grid_map_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index bf89abc507173..d745d007f8b37 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.40.0 + 0.41.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index 37fc48c525a49..e84799ae6be49 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_interpolation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_interpolation): remove clang compiler error (`#9711 `_) +* Contributors: Fumiya Watanabe, Ryuta Kambe + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index 3bad757405ed4..0a8d103b31f09 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.40.0 + 0.41.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 187ddda4acd39..46ebcdb1054e3 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_motion_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(motion_utils): add detail and pass type to VirtualWall (`#9940 `_) +* fix(autoware_motion_utils): remove clang compiler error (`#9713 `_) +* feat(motion_utils): add planning factor interface (`#9676 `_) + * feat(motion_utils): add planning factor interface + * fix: use extern template + * fix: define function in header + --------- +* Contributors: Fumiya Watanabe, Mamoru Sobue, Ryuta Kambe, Satoshi OTA + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 029985a53f020..75dc56de5466d 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.40.0 + 0.41.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 920106de22082..20f538b7c3e8e 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_object_recognition_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml index 05327766008f2..1f0a28c0db3f7 100644 --- a/common/autoware_object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -2,7 +2,7 @@ autoware_object_recognition_utils - 0.40.0 + 0.41.0 The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index cd4c6ae5ce49b..d5121521c3acf 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_path_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index 6d207f6ed795d..150ca10754e24 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.40.0 + 0.41.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index 72a53e6cef4b7..9f4396678ab12 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_polar_grid ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml index 16d6a72985ec9..c7ab2e8252965 100644 --- a/common/autoware_polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -2,7 +2,7 @@ autoware_polar_grid - 0.40.0 + 0.41.0 The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/autoware_pyplot/CHANGELOG.rst b/common/autoware_pyplot/CHANGELOG.rst index c3b1f9c17f7d5..970aa3361e4dd 100644 --- a/common/autoware_pyplot/CHANGELOG.rst +++ b/common/autoware_pyplot/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_pyplot ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_test_utils): add visualization (`#9603 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml index 2f3f3014d4907..1877699b70fc1 100644 --- a/common/autoware_pyplot/package.xml +++ b/common/autoware_pyplot/package.xml @@ -2,7 +2,7 @@ autoware_pyplot - 0.40.0 + 0.41.0 C++ interface for matplotlib based on pybind11 Mamoru Sobue Yukinari Hisaki diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index b5b01e98e23a7..a9e05a6ff5c10 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_signal_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index b8d7c064112dd..00f934005f642 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.40.0 + 0.41.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index 950fdb09aa119..0eddee7112ec2 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package autoware_test_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset (`#9967 `_) + * feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset + * fix + --------- +* chore(autoware_test_utils): move rviz config to autoware_launch (`#9925 `_) +* feat(autoware_test_utils): add visualization and yaml dumper for PathWithLaneId (`#9841 `_) +* chore(autoware_test_utils): update test map (`#9664 `_) +* feat(autoware_test_utils): add visualization (`#9603 `_) +* refactor(autoware_test_utils): enhance makeMapBinMsg to accept package name and map filename parameters (`#9617 `_) + * feat: enhance makeMapBinMsg to accept package name and map filename parameters + * feat: set default package name to 'autoware_test_utils' in makeMapBinMsg and related functions + --------- +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Ryohsuke Mitsudome, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 4a7e0f15ba74c..03846e620bedc 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.40.0 + 0.41.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 09ff6bdc4cf04..5ee6a2c9556de 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index a5df1302b682d..d94b90b6821f4 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -2,7 +2,7 @@ autoware_testing - 0.40.0 + 0.41.0 Tools for handling standard tests based on ros_testing Adam Dabrowski Tomoya Kimura diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index b18c3dd42cbc6..3e4d9f7de343a 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_time_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml index 278143e9ac4f8..fccd4e158d6ba 100644 --- a/common/autoware_time_utils/package.xml +++ b/common/autoware_time_utils/package.xml @@ -2,7 +2,7 @@ autoware_time_utils - 0.40.0 + 0.41.0 Simple conversion methods to/from std::chrono to simplify algorithm development Christopher Ho Tomoya Kimura diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst index 27a61bf71b1e8..3c9df1fcfd4b6 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_traffic_light_recognition_marker_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml index af670dc19baf1..b3f240b4b1ac3 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_recognition_marker_publisher - 0.40.0 + 0.41.0 The autoware_traffic_light_recognition_marker_publisher package Tomoya Kimura Takeshi Miura diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst index 0230e43574de8..fd69102c5043a 100644 --- a/common/autoware_traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_traffic_light_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml index 645e92e2d992f..68a0eb05dc201 100644 --- a/common/autoware_traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_utils - 0.40.0 + 0.41.0 The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst index 307dd8eb3dcf5..ba5c731b0b4ce 100644 --- a/common/autoware_trajectory/CHANGELOG.rst +++ b/common/autoware_trajectory/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_trajectory ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml index eaa5fca80ff46..230e83bbc3550 100644 --- a/common/autoware_trajectory/package.xml +++ b/common/autoware_trajectory/package.xml @@ -2,7 +2,7 @@ autoware_trajectory - 0.40.0 + 0.41.0 The autoware_trajectory package Yukinari Hisaki Takayuki Murooka diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index 31f45a8ecbfce..66eb541ae38b3 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_universe_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat(behavior_path_planner): use autoware internal stamped messages (`#9750 `_) + * feat(behavior_path_planner): use autoware internal stamped messages + * fix universe_utils + --------- +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_universe_utils): fix bug in test (`#9710 `_) +* Contributors: Fumiya Watanabe, Ryuta Kambe, Takayuki Murooka, kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml index 0e7b892a8c689..2415ce6e4a8c1 100644 --- a/common/autoware_universe_utils/package.xml +++ b/common/autoware_universe_utils/package.xml @@ -2,7 +2,7 @@ autoware_universe_utils - 0.40.0 + 0.41.0 The autoware_universe_utils package Takamasa Horibe Takayuki Murooka diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index a02256d5f9cea..f25de9a548809 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_vehicle_info_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index b6a2f1ad5154a..f419fb9d0d47e 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_info_utils - 0.40.0 + 0.41.0 The autoware_vehicle_info_utils package diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index d9b94eeacc79b..acc839db224cf 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_api_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 3e7f99b8736c5..228d9d8598749 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -2,7 +2,7 @@ tier4_api_utils - 0.40.0 + 0.41.0 The tier4_api_utils package Takagi, Isamu Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 578ffc14bae84..b4cb2cbe9abc7 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_autonomous_emergency_braking ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index e22a0f099e2f0..b7f04abca584f 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -2,7 +2,7 @@ autoware_autonomous_emergency_braking - 0.40.0 + 0.41.0 Autonomous Emergency Braking package as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index a108327961ac3..b890f50c447a0 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_collision_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml index 680c20b8094e7..c573b811027fb 100644 --- a/control/autoware_collision_detector/package.xml +++ b/control/autoware_collision_detector/package.xml @@ -2,7 +2,7 @@ autoware_collision_detector - 0.40.0 + 0.41.0 The collision_detector package Kyoichi Sugahara diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/autoware_control_performance_analysis/CHANGELOG.rst similarity index 96% rename from control/control_performance_analysis/CHANGELOG.rst rename to control/autoware_control_performance_analysis/CHANGELOG.rst index 67b4f15ddde9f..35d94b7033a79 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/autoware_control_performance_analysis/CHANGELOG.rst @@ -1,6 +1,37 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package control_performance_analysis -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_control_performance_analysis +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `control_performance_analysis` (`#9982 `_) + * feat(control_performance_analysis): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(control_performance_analysis): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(control_performance_analysis): fix include paths + * To follow the previous commit + * rename: `control_performance_analysis` => `autoware_control_performance_analysis` + * style(pre-commit): autofix + * bug(autoware_control_performance_analysis): fix inconsistent namespacing + * style(pre-commit): autofix + * update(autoware_control_performance_analysis): `README.md` + * bug(autoware_control_performance_analysis): fix critical bugs that contaminate topic name + * style(pre-commit): autofix + * fix: update package name for error_rqt_multiplot.xml + * fix: update package name for control_performance_plot.py + * docs(autoware_control_performance_analysis): update package name in README and CHANGELOG.rst + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome + Co-authored-by: SakodaShintaro +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/control/control_performance_analysis/CMakeLists.txt b/control/autoware_control_performance_analysis/CMakeLists.txt similarity index 78% rename from control/control_performance_analysis/CMakeLists.txt rename to control/autoware_control_performance_analysis/CMakeLists.txt index 10a305e1f7dbc..6ea320d2d402e 100644 --- a/control/control_performance_analysis/CMakeLists.txt +++ b/control/autoware_control_performance_analysis/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(control_performance_analysis) +project(autoware_control_performance_analysis) find_package(autoware_cmake REQUIRED) autoware_package() @@ -19,7 +19,7 @@ find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) rosidl_generate_interfaces( - control_performance_analysis + ${PROJECT_NAME} "msg/Error.msg" "msg/ErrorStamped.msg" "msg/DrivingMonitorStamped.msg" @@ -40,12 +40,12 @@ ament_auto_add_library( if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) rosidl_target_interfaces(control_performance_analysis_node - control_performance_analysis "rosidl_typesupport_cpp") + ${PROJECT_NAME} "rosidl_typesupport_cpp") rosidl_target_interfaces(control_performance_analysis_core - control_performance_analysis "rosidl_typesupport_cpp") + ${PROJECT_NAME} "rosidl_typesupport_cpp") else() rosidl_get_typesupport_target( - cpp_typesupport_target control_performance_analysis "rosidl_typesupport_cpp") + cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp") target_link_libraries(control_performance_analysis_node "${cpp_typesupport_target}") target_link_libraries(control_performance_analysis_core "${cpp_typesupport_target}") @@ -58,8 +58,8 @@ target_link_libraries( rclcpp_components_register_node( control_performance_analysis_node - PLUGIN "control_performance_analysis::ControlPerformanceAnalysisNode" - EXECUTABLE control_performance_analysis_exe + PLUGIN "autoware::control_performance_analysis::ControlPerformanceAnalysisNode" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package( diff --git a/control/control_performance_analysis/README.md b/control/autoware_control_performance_analysis/README.md similarity index 89% rename from control/control_performance_analysis/README.md rename to control/autoware_control_performance_analysis/README.md index e87efbe179eee..e57126b28cb5f 100644 --- a/control/control_performance_analysis/README.md +++ b/control/autoware_control_performance_analysis/README.md @@ -1,13 +1,13 @@ -# control_performance_analysis +# autoware_control_performance_analysis ## Purpose -`control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle. +`autoware_control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle. This package is used as a tool to quantify the results of the control module. That's why it doesn't interfere with the core logic of autonomous driving. -Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `control_performance_analysis::msg::ErrorStamped` defined in this package. +Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `autoware_control_performance_analysis::msg::ErrorStamped` defined in this package. All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below. @@ -35,14 +35,14 @@ Error acceleration calculations are made based on the velocity calculations abov ### Output topics -| Name | Type | Description | -| --------------------------------------- | -------------------------------------------------------- | --------------------------------------------------- | -| `/control_performance/performance_vars` | control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. | -| `/control_performance/driving_status` | control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring | +| Name | Type | Description | +| --------------------------------------- | ----------------------------------------------------------------- | --------------------------------------------------- | +| `/control_performance/performance_vars` | autoware_control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. | +| `/control_performance/driving_status` | autoware_control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring | ### Outputs -#### control_performance_analysis::msg::DrivingMonitorStamped +#### autoware_control_performance_analysis::msg::DrivingMonitorStamped | Name | Type | Description | | ---------------------------- | ----- | --------------------------------------------------------------------- | @@ -53,7 +53,7 @@ Error acceleration calculations are made based on the velocity calculations abov | `desired_steering_angle` | float | $[ \mathrm{rad} ]$ | | `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ | -#### control_performance_analysis::msg::ErrorStamped +#### autoware_control_performance_analysis::msg::ErrorStamped | Name | Type | Description | | ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- | diff --git a/control/control_performance_analysis/config/control_performance_analysis.param.yaml b/control/autoware_control_performance_analysis/config/control_performance_analysis.param.yaml similarity index 100% rename from control/control_performance_analysis/config/control_performance_analysis.param.yaml rename to control/autoware_control_performance_analysis/config/control_performance_analysis.param.yaml diff --git a/control/control_performance_analysis/config/controller_monitor.xml b/control/autoware_control_performance_analysis/config/controller_monitor.xml similarity index 100% rename from control/control_performance_analysis/config/controller_monitor.xml rename to control/autoware_control_performance_analysis/config/controller_monitor.xml diff --git a/control/control_performance_analysis/config/error_rqt_multiplot.xml b/control/autoware_control_performance_analysis/config/error_rqt_multiplot.xml similarity index 96% rename from control/control_performance_analysis/config/error_rqt_multiplot.xml rename to control/autoware_control_performance_analysis/config/error_rqt_multiplot.xml index 8597cbdaa253e..b75115929456f 100644 --- a/control/control_performance_analysis/config/error_rqt_multiplot.xml +++ b/control/autoware_control_performance_analysis/config/error_rqt_multiplot.xml @@ -36,7 +36,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/lateral_error @@ -49,7 +49,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -110,7 +110,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/error_energy @@ -123,7 +123,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -184,7 +184,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/lateral_error_velocity @@ -197,7 +197,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -260,7 +260,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/heading_error @@ -273,7 +273,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -334,7 +334,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/control_effort_energy @@ -347,7 +347,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -408,7 +408,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/lateral_error_acceleration @@ -421,7 +421,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -484,7 +484,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/value_approximation @@ -497,7 +497,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped @@ -558,7 +558,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped error/curvature_estimate @@ -571,7 +571,7 @@ 0 /control_performance/performance_vars - control_performance_analysis/ErrorStamped + autoware_control_performance_analysis/ErrorStamped diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp similarity index 80% rename from control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp rename to control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp index db0afc134ff79..4f6b9c237279f 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp +++ b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ -#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ +#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ +#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ +#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" -#include "control_performance_analysis/control_performance_analysis_utils.hpp" -#include "control_performance_analysis/msg/driving_monitor_stamped.hpp" -#include "control_performance_analysis/msg/error_stamped.hpp" -#include "control_performance_analysis/msg/float_stamped.hpp" +#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp" +#include "autoware_control_performance_analysis/msg/error_stamped.hpp" +#include "autoware_control_performance_analysis/msg/float_stamped.hpp" #include #include @@ -37,15 +37,15 @@ #include #include -namespace control_performance_analysis +namespace autoware::control_performance_analysis { using autoware_control_msgs::msg::Control; +using autoware_control_performance_analysis::msg::DrivingMonitorStamped; +using autoware_control_performance_analysis::msg::Error; +using autoware_control_performance_analysis::msg::ErrorStamped; +using autoware_control_performance_analysis::msg::FloatStamped; using autoware_planning_msgs::msg::Trajectory; using autoware_vehicle_msgs::msg::SteeringReport; -using control_performance_analysis::msg::DrivingMonitorStamped; -using control_performance_analysis::msg::Error; -using control_performance_analysis::msg::ErrorStamped; -using control_performance_analysis::msg::FloatStamped; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseArray; using geometry_msgs::msg::Twist; @@ -129,6 +129,6 @@ class ControlPerformanceAnalysisCore rclcpp::Logger logger_{rclcpp::get_logger("control_performance_analysis")}; rclcpp::Clock clock_{RCL_ROS_TIME}; }; -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis -#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ +#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_ diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp similarity index 79% rename from control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp rename to control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp index 16e383916eb6d..973574d47c50f 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp +++ b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ -#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ +#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ +#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ -#include "control_performance_analysis/control_performance_analysis_core.hpp" -#include "control_performance_analysis/msg/driving_monitor_stamped.hpp" -#include "control_performance_analysis/msg/error_stamped.hpp" +#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp" +#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp" +#include "autoware_control_performance_analysis/msg/error_stamped.hpp" #include #include @@ -34,13 +34,13 @@ #include #include -namespace control_performance_analysis +namespace autoware::control_performance_analysis { using autoware_control_msgs::msg::Control; +using autoware_control_performance_analysis::msg::DrivingMonitorStamped; +using autoware_control_performance_analysis::msg::ErrorStamped; using autoware_planning_msgs::msg::Trajectory; using autoware_vehicle_msgs::msg::SteeringReport; -using control_performance_analysis::msg::DrivingMonitorStamped; -using control_performance_analysis::msg::ErrorStamped; using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::Odometry; @@ -92,6 +92,6 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node // Algorithm std::unique_ptr control_performance_core_ptr_; }; -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis -#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ +#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_ diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_utils.hpp similarity index 86% rename from control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp rename to control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_utils.hpp index fb939d825b653..2199a0b20d7c1 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp +++ b/control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_utils.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ -#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ +#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ +#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ #include #include @@ -28,7 +28,7 @@ #include #include -namespace control_performance_analysis +namespace autoware::control_performance_analysis { namespace utils { @@ -84,6 +84,6 @@ double curvatureFromThreePoints( std::array const & c); } // namespace utils -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis -#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ +#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ diff --git a/control/control_performance_analysis/launch/control_performance_analysis.launch.xml b/control/autoware_control_performance_analysis/launch/control_performance_analysis.launch.xml similarity index 83% rename from control/control_performance_analysis/launch/control_performance_analysis.launch.xml rename to control/autoware_control_performance_analysis/launch/control_performance_analysis.launch.xml index f2997f0e10b83..eb479942e31a4 100644 --- a/control/control_performance_analysis/launch/control_performance_analysis.launch.xml +++ b/control/autoware_control_performance_analysis/launch/control_performance_analysis.launch.xml @@ -1,5 +1,5 @@ - + @@ -10,7 +10,7 @@ - + diff --git a/control/autoware_control_performance_analysis/msg/DrivingMonitorStamped.msg b/control/autoware_control_performance_analysis/msg/DrivingMonitorStamped.msg new file mode 100644 index 0000000000000..408a5a283e7bc --- /dev/null +++ b/control/autoware_control_performance_analysis/msg/DrivingMonitorStamped.msg @@ -0,0 +1,6 @@ +autoware_control_performance_analysis/FloatStamped longitudinal_acceleration +autoware_control_performance_analysis/FloatStamped longitudinal_jerk +autoware_control_performance_analysis/FloatStamped lateral_acceleration +autoware_control_performance_analysis/FloatStamped lateral_jerk +autoware_control_performance_analysis/FloatStamped desired_steering_angle +autoware_control_performance_analysis/FloatStamped controller_processing_time diff --git a/control/control_performance_analysis/msg/Error.msg b/control/autoware_control_performance_analysis/msg/Error.msg similarity index 100% rename from control/control_performance_analysis/msg/Error.msg rename to control/autoware_control_performance_analysis/msg/Error.msg diff --git a/control/autoware_control_performance_analysis/msg/ErrorStamped.msg b/control/autoware_control_performance_analysis/msg/ErrorStamped.msg new file mode 100644 index 0000000000000..813c68d803e5b --- /dev/null +++ b/control/autoware_control_performance_analysis/msg/ErrorStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_control_performance_analysis/Error error diff --git a/control/control_performance_analysis/msg/FloatStamped.msg b/control/autoware_control_performance_analysis/msg/FloatStamped.msg similarity index 100% rename from control/control_performance_analysis/msg/FloatStamped.msg rename to control/autoware_control_performance_analysis/msg/FloatStamped.msg diff --git a/control/control_performance_analysis/package.xml b/control/autoware_control_performance_analysis/package.xml similarity index 93% rename from control/control_performance_analysis/package.xml rename to control/autoware_control_performance_analysis/package.xml index f2630a7d47f62..a77a740130861 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/autoware_control_performance_analysis/package.xml @@ -1,8 +1,8 @@ - control_performance_analysis - 0.40.0 + autoware_control_performance_analysis + 0.41.0 Controller Performance Evaluation Berkay Karaman Taiki Tanaka @@ -12,6 +12,7 @@ Takamasa Horibe Satoshi Ota Takayuki Murooka + Junya Sasaki Apache License 2.0 diff --git a/control/control_performance_analysis/schema/control_performance_analysis.schema.json b/control/autoware_control_performance_analysis/schema/control_performance_analysis.schema.json similarity index 100% rename from control/control_performance_analysis/schema/control_performance_analysis.schema.json rename to control/autoware_control_performance_analysis/schema/control_performance_analysis.schema.json diff --git a/control/control_performance_analysis/scripts/control_performance_plot.py b/control/autoware_control_performance_analysis/scripts/control_performance_plot.py similarity index 97% rename from control/control_performance_analysis/scripts/control_performance_plot.py rename to control/autoware_control_performance_analysis/scripts/control_performance_plot.py index d4a6038465e12..a30266a32809f 100644 --- a/control/control_performance_analysis/scripts/control_performance_plot.py +++ b/control/autoware_control_performance_analysis/scripts/control_performance_plot.py @@ -17,9 +17,9 @@ import argparse import math +from autoware_control_performance_analysis.msg import DrivingMonitorStamped +from autoware_control_performance_analysis.msg import ErrorStamped from autoware_internal_debug_msgs.msg import BoolStamped -from control_performance_analysis.msg import DrivingMonitorStamped -from control_performance_analysis.msg import ErrorStamped import matplotlib.pyplot as plt from nav_msgs.msg import Odometry import rclpy diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp similarity index 95% rename from control/control_performance_analysis/src/control_performance_analysis_core.cpp rename to control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp index 08f736dd0b630..a5b818c64592e 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_performance_analysis/control_performance_analysis_core.hpp" +#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp" #include "autoware/motion_utils/trajectory/interpolation.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -25,14 +25,15 @@ #include #include -namespace control_performance_analysis +namespace autoware::control_performance_analysis { using geometry_msgs::msg::Quaternion; ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore() { - prev_target_vars_ = std::make_unique(); - prev_driving_vars_ = std::make_unique(); + prev_target_vars_ = std::make_unique(); + prev_driving_vars_ = + std::make_unique(); odom_history_ptr_ = std::make_shared>(); p_.odom_interval_ = 0; p_.curvature_interval_length_ = 10.0; @@ -46,8 +47,9 @@ ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore() ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore(Params & p) : p_{p} { // prepare control performance struct - prev_target_vars_ = std::make_unique(); - prev_driving_vars_ = std::make_unique(); + prev_target_vars_ = std::make_unique(); + prev_driving_vars_ = + std::make_unique(); odom_history_ptr_ = std::make_shared>(); } @@ -251,7 +253,8 @@ bool ControlPerformanceAnalysisCore::calculateErrorVars() lpf(error.error_energy, prev_error.error_energy); } - prev_target_vars_ = std::make_unique(error_vars); + prev_target_vars_ = + std::make_unique(error_vars); return true; } @@ -336,7 +339,9 @@ bool ControlPerformanceAnalysisCore::calculateDrivingVars() lpf(curr.desired_steering_angle.data, prev->desired_steering_angle.data); } - prev_driving_vars_ = std::make_unique(driving_status_vars); + prev_driving_vars_ = + std::make_unique( + driving_status_vars); last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp; last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp; @@ -544,4 +549,4 @@ double ControlPerformanceAnalysisCore::estimatePurePursuitCurvature() return curvature_pure_pursuit; } -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis diff --git a/control/control_performance_analysis/src/control_performance_analysis_node.cpp b/control/autoware_control_performance_analysis/src/control_performance_analysis_node.cpp similarity index 91% rename from control/control_performance_analysis/src/control_performance_analysis_node.cpp rename to control/autoware_control_performance_analysis/src/control_performance_analysis_node.cpp index 47ce3ce07e83c..1eaf8384614f8 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_node.cpp +++ b/control/autoware_control_performance_analysis/src/control_performance_analysis_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,27 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_performance_analysis/control_performance_analysis_node.hpp" +#include "autoware/control_performance_analysis/control_performance_analysis_node.hpp" -#include "control_performance_analysis/msg/driving_monitor_stamped.hpp" -#include "control_performance_analysis/msg/error_stamped.hpp" +#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp" +#include "autoware_control_performance_analysis/msg/error_stamped.hpp" #include #include #include -namespace -{ -using autoware_control_msgs::msg::Control; -using control_performance_analysis::msg::DrivingMonitorStamped; -using control_performance_analysis::msg::ErrorStamped; - -} // namespace - -namespace control_performance_analysis +namespace autoware::control_performance_analysis { using autoware::vehicle_info_utils::VehicleInfoUtils; +using autoware_control_msgs::msg::Control; +using autoware_control_performance_analysis::msg::DrivingMonitorStamped; +using autoware_control_performance_analysis::msg::ErrorStamped; ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode( const rclcpp::NodeOptions & node_options) @@ -195,7 +190,8 @@ bool ControlPerformanceAnalysisNode::isValidTrajectory(const Trajectory & traj) return check_condition; } -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis #include -RCLCPP_COMPONENTS_REGISTER_NODE(control_performance_analysis::ControlPerformanceAnalysisNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::control_performance_analysis::ControlPerformanceAnalysisNode) diff --git a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp b/control/autoware_control_performance_analysis/src/control_performance_analysis_utils.cpp similarity index 74% rename from control/control_performance_analysis/src/control_performance_analysis_utils.cpp rename to control/autoware_control_performance_analysis/src/control_performance_analysis_utils.cpp index f96aba2b54547..721bcfd1ff83d 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp +++ b/control/autoware_control_performance_analysis/src/control_performance_analysis_utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş. +// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_performance_analysis/control_performance_analysis_utils.hpp" +#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp" #include -namespace control_performance_analysis +namespace autoware::control_performance_analysis { namespace utils { @@ -26,4 +26,4 @@ double determinant(std::array const & a, std::array const } } // namespace utils -} // namespace control_performance_analysis +} // namespace autoware::control_performance_analysis diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index c35ece2151697..994ab4f0e642f 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_control_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs to autoware_internal_debug_msgs in file contr… (`#9837 `_) + feat: tier4_debug_msgs to autoware_internal_debug_msgs in file control/autoware_control_validator +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index fbaa3f013b64e..fbd0d4d332fe8 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -2,7 +2,7 @@ autoware_control_validator - 0.40.0 + 0.41.0 ros node for autoware_control_validator Kyoichi Sugahara Takamasa Horibe diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index 2e4ee4c7d2906..e8db21263e2d2 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_external_cmd_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml index 86cbdf9f00bfb..97b6670e409c9 100644 --- a/control/autoware_external_cmd_selector/package.xml +++ b/control/autoware_external_cmd_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_selector - 0.40.0 + 0.41.0 The autoware_external_cmd_selector package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index 8d25bab7fc6db..aaad4c6ded975 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_joy_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml index b178ec167306a..b0a128be10ddb 100644 --- a/control/autoware_joy_controller/package.xml +++ b/control/autoware_joy_controller/package.xml @@ -2,7 +2,7 @@ autoware_joy_controller - 0.40.0 + 0.41.0 The autoware_joy_controller package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index 9b49f0c6c8fb1..2cdbcf9df15f8 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package autoware_lane_departure_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) + * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling + --------- +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9846 `_) + * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files ontrol/autoware_mpc_lateral_controller + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml index 97ad5eaf82e00..5c06c43ffc0c8 100644 --- a/control/autoware_lane_departure_checker/package.xml +++ b/control/autoware_lane_departure_checker/package.xml @@ -2,7 +2,7 @@ autoware_lane_departure_checker - 0.40.0 + 0.41.0 The autoware_lane_departure_checker package Kyoichi Sugahara Makoto Kurihara diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index f149921648e8d..49aa808d65d4f 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package autoware_mpc_lateral_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9846 `_) + * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files ontrol/autoware_mpc_lateral_controller + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(autoware_mpc_lateral_controller): fix formula description in vehicle_model_bicycle_kinematics.hpp (`#8971 `_) + fix formula description in vehicle_model_bicycle_kinematics.hpp +* fix(mpc_lateral_controller): prevent unstable steering command while stopped (`#9690 `_) + * modify logic of function isStoppedState + * use a constant distance margin instead of wheelbase length + * add comment to implementation + --------- +* feat(mpc_lateral_controller): remove trans/rot deviation validation since the control_validator has the same feature (`#9684 `_) +* docs: modified minor sign error (`#8140 `_) +* Contributors: Autumn60, Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan, Yuki Kimura, mkquda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index 719d11ef7948b..b818b24786a16 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -2,7 +2,7 @@ autoware_mpc_lateral_controller - 0.40.0 + 0.41.0 MPC-based lateral controller Takamasa Horibe diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 79a7b2d8819e4..0cf89271451dc 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_obstacle_collision_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml index 334c6d970fc36..3472882c92982 100644 --- a/control/autoware_obstacle_collision_checker/package.xml +++ b/control/autoware_obstacle_collision_checker/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_collision_checker - 0.40.0 + 0.41.0 The obstacle_collision_checker package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index 3f178c04f9d48..731ce29585e04 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_operation_mode_transition_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index f82d610ba791b..52e663a4a2103 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -1,6 +1,6 @@ autoware_operation_mode_transition_manager - 0.40.0 + 0.41.0 The operation_mode_transition_manager package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index d63f075c26918..67c09b553339a 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -2,6 +2,27 @@ Changelog for package autoware_pid_longitudinal_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix: remove unnecessary parameters (`#9935 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9848 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_pid_longitudinal_controller +* feat(pid_longitudinal_controller): add new slope compensation mode trajectory_goal_adaptive (`#9705 `_) +* feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency (`#9685 `_) + * feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency + * fix + --------- +* feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature (`#9675 `_) + * feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature + * fix test + --------- +* feat(pid_longitudinal_controller): add smooth_stop mode in debug_values (`#9681 `_) +* feat(pid_longitudinal_controller): update trajectory_adaptive; add debug_values, adopt rate limit fillter (`#9656 `_) +* fix(autoware_pid_longitudinal_controller): fix bugprone-branch-clone (`#9629 `_) + fix: bugprone-branch-clone +* Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan, Yuki TAKAGI, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index 127ce8e76d69d..b685e424e8aa9 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -2,7 +2,7 @@ autoware_pid_longitudinal_controller - 0.40.0 + 0.41.0 PID-based longitudinal controller Takamasa Horibe diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/autoware_predicted_path_checker/CHANGELOG.rst similarity index 83% rename from control/predicted_path_checker/CHANGELOG.rst rename to control/autoware_predicted_path_checker/CHANGELOG.rst index 2cfe80aeada7b..abd007f26638f 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/autoware_predicted_path_checker/CHANGELOG.rst @@ -1,7 +1,32 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package predicted_path_checker +Changelog for package autoware_predicted_path_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `predicted_path_checker` (`#9985 `_) + * feat(predicted_path_checker): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(predicted_path_checker): move headers under `include/autoware` + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(predicted_path_checker): fix include header paths + * To follow the previous commit + * rename: `predicted_path_checker` => `autoware_predicted_path_checker` + * style(pre-commit): autofix + * bug(autoware_predicted_path_checker): fix inconsistent namespacings + * bug(autoware_predicted_path_checker): do not change node name + * This might contaminate topic name + * style(pre-commit): autofix + * bug(tier4_control_launch): fix wrong package/plugin names + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/predicted_path_checker/CMakeLists.txt b/control/autoware_predicted_path_checker/CMakeLists.txt similarity index 68% rename from control/predicted_path_checker/CMakeLists.txt rename to control/autoware_predicted_path_checker/CMakeLists.txt index cfbe95df99e74..d14798805b5e5 100644 --- a/control/predicted_path_checker/CMakeLists.txt +++ b/control/autoware_predicted_path_checker/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(predicted_path_checker) +project(autoware_predicted_path_checker) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,7 +12,7 @@ include_directories( ${Eigen3_INCLUDE_DIRS} ) -ament_auto_add_library(predicted_path_checker SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/predicted_path_checker_node/predicted_path_checker_node.cpp src/predicted_path_checker_node/collision_checker.cpp src/predicted_path_checker_node/utils.cpp @@ -20,9 +20,9 @@ ament_auto_add_library(predicted_path_checker SHARED ) -rclcpp_components_register_node(predicted_path_checker - PLUGIN "autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode" - EXECUTABLE predicted_path_checker_node +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::predicted_path_checker::PredictedPathCheckerNode" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) diff --git a/control/predicted_path_checker/README.md b/control/autoware_predicted_path_checker/README.md similarity index 100% rename from control/predicted_path_checker/README.md rename to control/autoware_predicted_path_checker/README.md diff --git a/control/predicted_path_checker/config/predicted_path_checker.param.yaml b/control/autoware_predicted_path_checker/config/predicted_path_checker.param.yaml similarity index 100% rename from control/predicted_path_checker/config/predicted_path_checker.param.yaml rename to control/autoware_predicted_path_checker/config/predicted_path_checker.param.yaml diff --git a/control/predicted_path_checker/images/FlowChart.png b/control/autoware_predicted_path_checker/images/FlowChart.png similarity index 100% rename from control/predicted_path_checker/images/FlowChart.png rename to control/autoware_predicted_path_checker/images/FlowChart.png diff --git a/control/predicted_path_checker/images/Z_axis_filtering.png b/control/autoware_predicted_path_checker/images/Z_axis_filtering.png similarity index 100% rename from control/predicted_path_checker/images/Z_axis_filtering.png rename to control/autoware_predicted_path_checker/images/Z_axis_filtering.png diff --git a/control/predicted_path_checker/images/general-structure.png b/control/autoware_predicted_path_checker/images/general-structure.png similarity index 100% rename from control/predicted_path_checker/images/general-structure.png rename to control/autoware_predicted_path_checker/images/general-structure.png diff --git a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/collision_checker.hpp similarity index 90% rename from control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp rename to control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/collision_checker.hpp index e2c76bec24860..bed95f4d8987c 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp +++ b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/collision_checker.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ -#define PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ +#ifndef AUTOWARE__PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ +#define AUTOWARE__PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ #include #include +#include +#include #include #include #include #include -#include -#include #include #include @@ -40,7 +40,7 @@ #include #include -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -123,6 +123,6 @@ class CollisionChecker autoware::vehicle_info_utils::VehicleInfo vehicle_info_; std::vector predicted_object_history_{}; }; -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker -#endif // PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ +#endif // AUTOWARE__PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_ diff --git a/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/debug_marker.hpp similarity index 91% rename from control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp rename to control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/debug_marker.hpp index 0f537d52cee06..f9dff3347272a 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp +++ b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/debug_marker.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ -#define PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ +#ifndef AUTOWARE__PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ +#define AUTOWARE__PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ #include @@ -35,7 +35,7 @@ #include #include -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { enum class PolygonType : int8_t { Vehicle = 0, Collision }; @@ -87,6 +87,6 @@ class PredictedPathCheckerDebugNode std::vector> collision_polyhedrons_; }; -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker -#endif // PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ +#endif // AUTOWARE__PREDICTED_PATH_CHECKER__DEBUG_MARKER_HPP_ diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/predicted_path_checker_node.hpp similarity index 93% rename from control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp rename to control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/predicted_path_checker_node.hpp index 68b879743c5c5..33e0cb13efdca 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp +++ b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/predicted_path_checker_node.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ -#define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#ifndef AUTOWARE__PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#define AUTOWARE__PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ #include #include #include #include +#include +#include #include #include #include #include #include -#include -#include #include #include @@ -45,7 +45,7 @@ #include #include -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -178,6 +178,6 @@ class PredictedPathCheckerNode : public rclcpp::Node // Diagnostic Updater diagnostic_updater::Updater updater_; }; -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker -#endif // PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#endif // AUTOWARE__PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ diff --git a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/utils.hpp similarity index 94% rename from control/predicted_path_checker/include/predicted_path_checker/utils.hpp rename to control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/utils.hpp index 984584d16aa8f..bf46025242401 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp +++ b/control/autoware_predicted_path_checker/include/autoware/predicted_path_checker/utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PREDICTED_PATH_CHECKER__UTILS_HPP_ -#define PREDICTED_PATH_CHECKER__UTILS_HPP_ +#ifndef AUTOWARE__PREDICTED_PATH_CHECKER__UTILS_HPP_ +#define AUTOWARE__PREDICTED_PATH_CHECKER__UTILS_HPP_ #include #include @@ -36,7 +36,7 @@ #include #include -namespace utils +namespace autoware::predicted_path_checker { using autoware::universe_utils::Point2d; @@ -99,6 +99,6 @@ void getCurrentObjectPose( const rclcpp::Time & current_time); bool isFrontObstacle(const Pose & ego_pose, const geometry_msgs::msg::Point & obstacle_pos); -} // namespace utils +} // namespace autoware::predicted_path_checker -#endif // PREDICTED_PATH_CHECKER__UTILS_HPP_ +#endif // AUTOWARE__PREDICTED_PATH_CHECKER__UTILS_HPP_ diff --git a/control/predicted_path_checker/launch/predicted_path_checker.launch.xml b/control/autoware_predicted_path_checker/launch/predicted_path_checker.launch.xml similarity index 79% rename from control/predicted_path_checker/launch/predicted_path_checker.launch.xml rename to control/autoware_predicted_path_checker/launch/predicted_path_checker.launch.xml index 6af1372a5bb4a..b0b8b385e7697 100755 --- a/control/predicted_path_checker/launch/predicted_path_checker.launch.xml +++ b/control/autoware_predicted_path_checker/launch/predicted_path_checker.launch.xml @@ -5,11 +5,11 @@ - + - + diff --git a/control/predicted_path_checker/package.xml b/control/autoware_predicted_path_checker/package.xml similarity index 91% rename from control/predicted_path_checker/package.xml rename to control/autoware_predicted_path_checker/package.xml index a6780a4c00519..521d34455f465 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/autoware_predicted_path_checker/package.xml @@ -1,11 +1,12 @@ - predicted_path_checker - 0.40.0 + autoware_predicted_path_checker + 0.41.0 The predicted_path_checker package Berkay Karaman + Junya Sasaki Apache 2.0 Berkay Karaman diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp similarity index 93% rename from control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp rename to control/autoware_predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp index 2841888b61bcc..d21766f36e202 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp +++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "predicted_path_checker/collision_checker.hpp" +#include "autoware/predicted_path_checker/collision_checker.hpp" #include #include @@ -22,7 +22,7 @@ #include #include -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { CollisionChecker::CollisionChecker( rclcpp::Node * node, std::shared_ptr debug_ptr) @@ -61,7 +61,7 @@ CollisionChecker::checkTrajectoryForCollision( // create one-step polygon for vehicle Polygon2d one_step_move_vehicle_polygon2d = - utils::createOneStepPolygon(p_front, p_back, vehicle_info_, param_.width_margin); + createOneStepPolygon(p_front, p_back, vehicle_info_, param_.width_margin); if (param_.enable_z_axis_obstacle_filtering) { debug_ptr_->pushPolyhedron( one_step_move_vehicle_polygon2d, z_min, z_max, PolygonType::Vehicle); @@ -126,7 +126,7 @@ CollisionChecker::checkObstacleHistory( std::vector> collision_points_in_history; for (const auto & obj_history : predicted_object_history_) { if (param_.enable_z_axis_obstacle_filtering) { - if (!utils::intersectsInZAxis(obj_history.object, z_min, z_max)) { + if (!intersectsInZAxis(obj_history.object, z_min, z_max)) { continue; } } @@ -169,11 +169,11 @@ CollisionChecker::checkDynamicObjects( for (size_t i = 0; i < dynamic_objects->objects.size(); ++i) { const auto & obj = dynamic_objects->objects.at(i); if (param_.enable_z_axis_obstacle_filtering) { - if (!utils::intersectsInZAxis(obj, z_min, z_max)) { + if (!intersectsInZAxis(obj, z_min, z_max)) { continue; } } - const auto object_polygon = utils::convertObjToPolygon(obj); + const auto object_polygon = convertObjToPolygon(obj); if (object_polygon.outer().empty()) { // unsupported type continue; @@ -205,7 +205,7 @@ CollisionChecker::checkDynamicObjects( } geometry_msgs::msg::Point nearest_collision_point_tmp; - double norm = utils::getNearestPointAndDistanceForPredictedObject( + double norm = getNearestPointAndDistanceForPredictedObject( collision_point_array, base_pose, &nearest_collision_point_tmp); if (norm < min_norm_collision_norm || !is_init) { min_norm_collision_norm = norm; @@ -217,7 +217,7 @@ CollisionChecker::checkDynamicObjects( } if (is_init) { const auto & obj = dynamic_objects->objects.at(nearest_collision_object_index); - const auto obstacle_polygon = utils::convertObjToPolygon(obj); + const auto obstacle_polygon = convertObjToPolygon(obj); if (param_.enable_z_axis_obstacle_filtering) { debug_ptr_->pushPolyhedron(obstacle_polygon, z_min, z_max, PolygonType::Collision); } else { @@ -229,4 +229,4 @@ CollisionChecker::checkDynamicObjects( } return boost::none; } -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp similarity index 98% rename from control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp rename to control/autoware_predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp index 3fae5e38e7ede..61125b88484f0 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp +++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "predicted_path_checker/debug_marker.hpp" +#include "autoware/predicted_path_checker/debug_marker.hpp" #include #include @@ -38,7 +38,7 @@ using autoware::universe_utils::createMarkerOrientation; using autoware::universe_utils::createMarkerScale; using autoware::universe_utils::createPoint; -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { PredictedPathCheckerDebugNode::PredictedPathCheckerDebugNode( rclcpp::Node * node, const double base_link2front) @@ -326,4 +326,4 @@ visualization_msgs::msg::MarkerArray PredictedPathCheckerDebugNode::makeVisualiz return msg; } -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp similarity index 95% rename from control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp rename to control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index f199bc731e68e..e849508f32e50 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "predicted_path_checker/predicted_path_checker_node.hpp" +#include "autoware/predicted_path_checker/predicted_path_checker_node.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace autoware::motion::control::predicted_path_checker +namespace autoware::predicted_path_checker { PredictedPathCheckerNode::PredictedPathCheckerNode(const rclcpp::NodeOptions & node_options) @@ -301,7 +301,7 @@ void PredictedPathCheckerNode::onTimer() // Check if the vehicle is in the brake distance - const bool is_in_brake_distance = utils::isInBrakeDistance( + const bool is_in_brake_distance = isInBrakeDistance( predicted_trajectory_array, stop_idx, relative_velocity, relative_acceleration, node_param_.max_deceleration, node_param_.delay_time); @@ -431,7 +431,7 @@ bool PredictedPathCheckerNode::isItDiscretePoint( const auto nearest_segment = autoware::motion_utils::findNearestSegmentIndex(reference_trajectory, collision_point.pose); - const auto nearest_point = utils::calcInterpolatedPoint( + const auto nearest_point = calcInterpolatedPoint( reference_trajectory, collision_point.pose.position, *nearest_segment, false); const auto distance = autoware::universe_utils::calcDistance2d( @@ -495,7 +495,7 @@ void PredictedPathCheckerNode::extendTrajectoryPointsArray(TrajectoryPoints & tr // collision_point. const double extend_distance = vehicle_info_.max_longitudinal_offset_m + node_param_.stop_margin; const auto & goal_point = trajectory.back(); - const auto trajectory_point_extend = utils::getExtendTrajectoryPoint(extend_distance, goal_point); + const auto trajectory_point_extend = getExtendTrajectoryPoint(extend_distance, goal_point); trajectory.push_back(trajectory_point_extend); } @@ -506,14 +506,14 @@ size_t PredictedPathCheckerNode::insertStopPoint( autoware::motion_utils::findNearestSegmentIndex(trajectory, collision_point); const auto nearest_collision_point = - utils::calcInterpolatedPoint(trajectory, collision_point, nearest_collision_segment, true); + calcInterpolatedPoint(trajectory, collision_point, nearest_collision_segment, true); const size_t collision_idx = nearest_collision_segment + 1; trajectory.insert(trajectory.begin() + static_cast(collision_idx), nearest_collision_point); const auto stop_point = - utils::findStopPoint(trajectory, collision_idx, node_param_.stop_margin, vehicle_info_); + findStopPoint(trajectory, collision_idx, node_param_.stop_margin, vehicle_info_); const size_t stop_idx = stop_point.first + 1; trajectory.insert(trajectory.begin() + static_cast(stop_idx), stop_point.second); @@ -550,13 +550,12 @@ void PredictedPathCheckerNode::filterObstacles( for (auto & object : object_ptr_.get()->objects) { // Check is it in front of ego vehicle - if (!utils::isFrontObstacle( - ego_pose, object.kinematics.initial_pose_with_covariance.pose.position)) { + if (!isFrontObstacle(ego_pose, object.kinematics.initial_pose_with_covariance.pose.position)) { continue; } // Check is it near to trajectory - const double max_length = utils::calcObstacleMaxLength(object.shape); + const double max_length = calcObstacleMaxLength(object.shape); const size_t seg_idx = autoware::motion_utils::findNearestSegmentIndex( traj, object.kinematics.initial_pose_with_covariance.pose.position); const auto p_front = autoware::universe_utils::getPoint(traj.at(seg_idx)); @@ -580,14 +579,13 @@ void PredictedPathCheckerNode::filterObstacles( } PredictedObject filtered_object = object; if (use_prediction) { - utils::getCurrentObjectPose(filtered_object, object_ptr_.get()->header.stamp, this->now()); + getCurrentObjectPose(filtered_object, object_ptr_.get()->header.stamp, this->now()); } filtered_objects.objects.push_back(filtered_object); } } -} // namespace autoware::motion::control::predicted_path_checker +} // namespace autoware::predicted_path_checker #include -RCLCPP_COMPONENTS_REGISTER_NODE( - autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::predicted_path_checker::PredictedPathCheckerNode) diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp similarity index 98% rename from control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp rename to control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp index 12e38fd9968ab..c3d4a8b3c7594 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp +++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "predicted_path_checker/utils.hpp" +#include "autoware/predicted_path_checker/utils.hpp" #include #include @@ -20,7 +20,7 @@ #include -namespace utils +namespace autoware::predicted_path_checker { using autoware::motion_utils::findFirstNearestIndexWithSoftConstraints; @@ -355,15 +355,15 @@ Polygon2d convertObjToPolygon(const PredictedObject & obj) { Polygon2d object_polygon{}; if (obj.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { - object_polygon = utils::convertCylindricalObjectToGeometryPolygon( + object_polygon = convertCylindricalObjectToGeometryPolygon( obj.kinematics.initial_pose_with_covariance.pose, obj.shape); } else if (obj.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { const double & length_m = obj.shape.dimensions.x / 2; const double & width_m = obj.shape.dimensions.y / 2; - object_polygon = utils::convertBoundingBoxObjectToGeometryPolygon( + object_polygon = convertBoundingBoxObjectToGeometryPolygon( obj.kinematics.initial_pose_with_covariance.pose, length_m, length_m, width_m); } else if (obj.shape.type == autoware_perception_msgs::msg::Shape::POLYGON) { - object_polygon = utils::convertPolygonObjectToGeometryPolygon( + object_polygon = convertPolygonObjectToGeometryPolygon( obj.kinematics.initial_pose_with_covariance.pose, obj.shape); } else { throw std::runtime_error("Unsupported shape type"); @@ -430,4 +430,4 @@ void getCurrentObjectPose( 0.0, 0.0, autoware::universe_utils::normalizeRadian(yaw + delta_yaw)); } -} // namespace utils +} // namespace autoware::predicted_path_checker diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index e0afa320a49a5..a36d12c8c6b7b 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_pure_pursuit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_pure_pursuit)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_pure_pursuit (`#9849 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_pure_pursuit +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml index 5b61cc10af1f5..98f1e71f26cf6 100644 --- a/control/autoware_pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -2,7 +2,7 @@ autoware_pure_pursuit - 0.40.0 + 0.41.0 The pure_pursuit package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index 2b5eda421e452..73bbcb95fbdd5 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_shift_decider ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml index fb7811e094dc2..6ae72a6ade360 100644 --- a/control/autoware_shift_decider/package.xml +++ b/control/autoware_shift_decider/package.xml @@ -2,7 +2,7 @@ autoware_shift_decider - 0.40.0 + 0.41.0 The autoware_shift_decider package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index d3dc4d5eb1aa8..a18c00c93f1e0 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_smart_mpc_trajectory_follower ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9851 `_) +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml index 7260dee488c52..a5dff3d73da63 100644 --- a/control/autoware_smart_mpc_trajectory_follower/package.xml +++ b/control/autoware_smart_mpc_trajectory_follower/package.xml @@ -2,7 +2,7 @@ autoware_smart_mpc_trajectory_follower - 0.40.0 + 0.41.0 Nodes to follow a trajectory by generating control commands using smart mpc diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 88ccd57905c89..a4b5f68e14311 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_trajectory_follower_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_msgs in files con… (`#9852 `_) + feat: tier4_debug_msgs changed to autoware_internal_msgs in files control/autoware_trajectory_follower_base +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 195c077835910..e7d4bd9599625 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_base - 0.40.0 + 0.41.0 Library for generating lateral and longitudinal controls following a trajectory diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index c77e252230bfb..f9554faa7a19f 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_trajectory_follower_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9853 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_trajectory_follower_node +* fix: remove unnecessary parameters (`#9935 `_) +* chore(trajectory_follower_node): fix typos (`#9707 `_) +* feat(pid_longitudinal_controller): update plotjuggler settings (`#9703 `_) +* feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature (`#9675 `_) + * feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature + * fix test + --------- +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Vishal Chauhan, Yuki TAKAGI + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index aa65e340d20fe..e12cda7d0de1b 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_node - 0.40.0 + 0.41.0 Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 38dae3279b1c8..aad435d519c55 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_vehicle_cmd_gate ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate (`#9856 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 2fcc7d77e7ec2..ba1f31c194946 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_cmd_gate - 0.40.0 + 0.41.0 The vehicle_cmd_gate package Takamasa Horibe Tomoya Kimura diff --git a/control/control_performance_analysis/msg/DrivingMonitorStamped.msg b/control/control_performance_analysis/msg/DrivingMonitorStamped.msg deleted file mode 100644 index 2dea0b5e36b8f..0000000000000 --- a/control/control_performance_analysis/msg/DrivingMonitorStamped.msg +++ /dev/null @@ -1,6 +0,0 @@ -control_performance_analysis/FloatStamped longitudinal_acceleration -control_performance_analysis/FloatStamped longitudinal_jerk -control_performance_analysis/FloatStamped lateral_acceleration -control_performance_analysis/FloatStamped lateral_jerk -control_performance_analysis/FloatStamped desired_steering_angle -control_performance_analysis/FloatStamped controller_processing_time diff --git a/control/control_performance_analysis/msg/ErrorStamped.msg b/control/control_performance_analysis/msg/ErrorStamped.msg deleted file mode 100644 index 8b0b37f653b40..0000000000000 --- a/control/control_performance_analysis/msg/ErrorStamped.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -control_performance_analysis/Error error diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 88afa49d97cc3..ec41a5cc77c8c 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -2,6 +2,29 @@ Changelog for package autoware_control_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_control_evaluator): add new steering metrics (`#10012 `_) +* feat(autoware_control_evaluator): add new boundary_distance metrics (`#9984 `_) + * add boundary_distance metric + * pre-commit + * use path topic instead of lanenet. + * remove unused import + * apply is_point_left_of_line + * fix typo + * fix test bug + * manual pre-commit + --------- + Co-authored-by: t4-adc +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9858 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files evaluator/autoware_control_evaluator +* fix(autoware_control_evaluator): fix bugprone-exception-escape (`#9630 `_) + * fix: bugprone-exception-escape + * fix: cpplint + --------- +* Contributors: Fumiya Watanabe, Kem (TiankuiXian), Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 663da9e9ebd87..06f188a1fb63d 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -25,6 +25,7 @@ #include #include +#include "autoware_vehicle_msgs/msg/steering_report.hpp" #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include #include @@ -45,6 +46,7 @@ using autoware::universe_utils::LineString2d; using autoware::universe_utils::Point2d; using autoware::vehicle_info_utils::VehicleInfo; using autoware_planning_msgs::msg::Trajectory; +using autoware_vehicle_msgs::msg::SteeringReport; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; @@ -75,6 +77,7 @@ class ControlEvaluatorNode : public rclcpp::Node void AddLaneletInfoMsg(const Pose & ego_pose); void AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped); + void AddSteeringMetricMsg(const SteeringReport & steering_report); void onTimer(); @@ -93,6 +96,8 @@ class ControlEvaluatorNode : public rclcpp::Node vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; autoware::universe_utils::InterProcessPollingSubscriber behavior_path_subscriber_{ this, "~/input/behavior_path"}; + autoware::universe_utils::InterProcessPollingSubscriber steering_sub_{ + this, "~/input/steering_status"}; rclcpp::Publisher::SharedPtr processing_time_pub_; @@ -107,8 +112,16 @@ class ControlEvaluatorNode : public rclcpp::Node // Metric const std::vector metrics_ = { // collect all metrics - Metric::lateral_deviation, Metric::yaw_deviation, Metric::goal_longitudinal_deviation, - Metric::goal_lateral_deviation, Metric::goal_yaw_deviation, + Metric::lateral_deviation, + Metric::yaw_deviation, + Metric::goal_longitudinal_deviation, + Metric::goal_lateral_deviation, + Metric::goal_yaw_deviation, + Metric::left_boundary_distance, + Metric::right_boundary_distance, + Metric::steering_angle, + Metric::steering_rate, + Metric::steering_acceleration, }; std::array, static_cast(Metric::SIZE)> @@ -119,6 +132,9 @@ class ControlEvaluatorNode : public rclcpp::Node autoware::route_handler::RouteHandler route_handler_; rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; + std::optional prev_steering_angle_{std::nullopt}; + std::optional prev_steering_rate_{std::nullopt}; + std::optional prev_steering_angle_timestamp_{std::nullopt}; }; } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp index ab2533d0f6ed3..39ef6fa26dfa8 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp @@ -33,6 +33,9 @@ enum class Metric { goal_yaw_deviation, left_boundary_distance, right_boundary_distance, + steering_angle, + steering_rate, + steering_acceleration, SIZE, }; @@ -44,6 +47,9 @@ static const std::unordered_map str_to_metric = { {"goal_yaw_deviation", Metric::goal_yaw_deviation}, {"left_boundary_distance", Metric::left_boundary_distance}, {"right_boundary_distance", Metric::right_boundary_distance}, + {"steering_angle", Metric::steering_angle}, + {"steering_rate", Metric::steering_rate}, + {"steering_acceleration", Metric::steering_acceleration}, }; static const std::unordered_map metric_to_str = { @@ -54,6 +60,9 @@ static const std::unordered_map metric_to_str = { {Metric::goal_yaw_deviation, "goal_yaw_deviation"}, {Metric::left_boundary_distance, "left_boundary_distance"}, {Metric::right_boundary_distance, "right_boundary_distance"}, + {Metric::steering_angle, "steering_angle"}, + {Metric::steering_rate, "steering_rate"}, + {Metric::steering_acceleration, "steering_acceleration"}, }; // Metrics descriptions @@ -65,6 +74,9 @@ static const std::unordered_map metric_descriptions = { {Metric::goal_yaw_deviation, "Yaw deviation from the goal point[rad]"}, {Metric::left_boundary_distance, "Signed distance to the left boundary[m]"}, {Metric::right_boundary_distance, "Signed distance to the right boundary[m]"}, + {Metric::steering_angle, "Steering angle[rad]"}, + {Metric::steering_rate, "Steering angle rate[rad/s]"}, + {Metric::steering_acceleration, "Steering angle acceleration[rad/s^2]"}, }; namespace details diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index 7d26a58367fa1..f1415410c13e4 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -6,6 +6,7 @@ + @@ -17,6 +18,7 @@ + diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index ea8f0875855d1..8d32c2cf76711 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_control_evaluator - 0.40.0 + 0.41.0 ROS 2 node for evaluating control Daniel SANCHEZ takayuki MUROOKA @@ -22,6 +22,7 @@ autoware_test_utils autoware_universe_utils autoware_vehicle_info_utils + autoware_vehicle_msgs nav_msgs nlohmann-json-dev pluginlib diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 4abfb25afeee8..435d1bb8c4dd3 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -244,6 +244,47 @@ void ControlEvaluatorNode::AddKinematicStateMetricMsg( return; } +void ControlEvaluatorNode::AddSteeringMetricMsg(const SteeringReport & steering_status) +{ + // steering angle + double cur_steering_angle = steering_status.steering_tire_angle; + const double cur_t = static_cast(steering_status.stamp.sec) + + static_cast(steering_status.stamp.nanosec) * 1e-9; + AddMetricMsg(Metric::steering_angle, cur_steering_angle); + + if (!prev_steering_angle_timestamp_.has_value()) { + prev_steering_angle_timestamp_ = cur_t; + prev_steering_angle_ = cur_steering_angle; + return; + } + + // d_t + const double dt = cur_t - prev_steering_angle_timestamp_.value(); + if (dt < std::numeric_limits::epsilon()) { + prev_steering_angle_timestamp_ = cur_t; + prev_steering_angle_ = cur_steering_angle; + return; + } + + // steering rate + const double steering_rate = (cur_steering_angle - prev_steering_angle_.value()) / dt; + AddMetricMsg(Metric::steering_rate, steering_rate); + + // steering acceleration + if (!prev_steering_rate_.has_value()) { + prev_steering_angle_timestamp_ = cur_t; + prev_steering_angle_ = cur_steering_angle; + prev_steering_rate_ = steering_rate; + return; + } + const double steering_acceleration = (steering_rate - prev_steering_rate_.value()) / dt; + AddMetricMsg(Metric::steering_acceleration, steering_acceleration); + + prev_steering_angle_timestamp_ = cur_t; + prev_steering_angle_ = cur_steering_angle; + prev_steering_rate_ = steering_rate; +} + void ControlEvaluatorNode::AddLateralDeviationMetricMsg( const Trajectory & traj, const Point & ego_point) { @@ -294,6 +335,7 @@ void ControlEvaluatorNode::onTimer() const auto odom = odometry_sub_.takeData(); const auto acc = accel_sub_.takeData(); const auto behavior_path = behavior_path_subscriber_.takeData(); + const auto steering_status = steering_sub_.takeData(); // calculate deviation metrics if (odom && traj && !traj->points.empty()) { @@ -320,6 +362,10 @@ void ControlEvaluatorNode::onTimer() AddBoundaryDistanceMetricMsg(*behavior_path, ego_pose); } + if (steering_status) { + AddSteeringMetricMsg(*steering_status); + } + // Publish metrics metrics_msg_.stamp = now(); metrics_pub_->publish(metrics_msg_); diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst similarity index 93% rename from evaluator/kinematic_evaluator/CHANGELOG.rst rename to evaluator/autoware_kinematic_evaluator/CHANGELOG.rst index 2283ea3b36a95..d14c5972e9e07 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package kinematic_evaluator -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_kinematic_evaluator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `evaluator/kinematic_evaluator` (`#9936 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/evaluator/kinematic_evaluator/CMakeLists.txt b/evaluator/autoware_kinematic_evaluator/CMakeLists.txt similarity index 67% rename from evaluator/kinematic_evaluator/CMakeLists.txt rename to evaluator/autoware_kinematic_evaluator/CMakeLists.txt index 6c1b6abc3dace..721f164016c6c 100644 --- a/evaluator/kinematic_evaluator/CMakeLists.txt +++ b/evaluator/autoware_kinematic_evaluator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(kinematic_evaluator) +project(autoware_kinematic_evaluator) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) @@ -15,26 +15,25 @@ autoware_package() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() -ament_auto_add_library(${PROJECT_NAME}_node SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/metrics_calculator.cpp - src/${PROJECT_NAME}_node.cpp src/kinematic_evaluator_node.cpp src/metrics/kinematic_metrics.cpp ) -rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "kinematic_diagnostics::KinematicEvaluatorNode" - EXECUTABLE ${PROJECT_NAME} +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::kinematic_diagnostics::KinematicEvaluatorNode" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_${PROJECT_NAME} + ament_add_gtest(test_kinematic_evaluator test/test_kinematic_evaluator_node.cpp ) - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME}_node + target_link_libraries(test_kinematic_evaluator + ${PROJECT_NAME} ) endif() diff --git a/evaluator/autoware_kinematic_evaluator/README.md b/evaluator/autoware_kinematic_evaluator/README.md new file mode 100644 index 0000000000000..341229bd0aac6 --- /dev/null +++ b/evaluator/autoware_kinematic_evaluator/README.md @@ -0,0 +1,7 @@ +# autoware_kinematic_evaluator + +TBD + +## Parameters + +{{json_to_markdown("evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json")}} diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/kinematic_evaluator_node.hpp similarity index 86% rename from evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp rename to evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/kinematic_evaluator_node.hpp index d401f63649468..053fbfc11f192 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp +++ b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/kinematic_evaluator_node.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ -#define KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ +#ifndef AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ +#define AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ +#include "autoware/kinematic_evaluator/metrics_calculator.hpp" #include "autoware/universe_utils/math/accumulator.hpp" -#include "kinematic_evaluator/metrics_calculator.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -31,7 +31,7 @@ #include #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { using autoware::universe_utils::Accumulator; using diagnostic_msgs::msg::DiagnosticArray; @@ -78,6 +78,6 @@ class KinematicEvaluatorNode : public rclcpp::Node std::array>, static_cast(Metric::SIZE)> metric_stats_; std::unordered_map> metrics_dict_; }; -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics -#endif // KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ +#endif // AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp similarity index 78% rename from evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp rename to evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp index e7d18910e7c39..2ae1f60902de7 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp +++ b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ -#define KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ +#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ +#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ #include "autoware/universe_utils/math/accumulator.hpp" #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { namespace metrics { @@ -35,6 +35,6 @@ using nav_msgs::msg::Odometry; Accumulator updateVelocityStats(const double & value, const Accumulator stat_prev); } // namespace metrics -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics -#endif // KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ +#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/metric.hpp b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/metric.hpp similarity index 86% rename from evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/metric.hpp rename to evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/metric.hpp index 2e46d655312d8..01d645355b4f5 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/metric.hpp +++ b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/metric.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ -#define KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ +#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ +#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ #include #include #include #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { /** * @brief Enumeration of velocity metrics @@ -57,6 +57,6 @@ static struct CheckCorrectMaps } check; } // namespace details -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics -#endif // KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ +#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_ diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics_calculator.hpp similarity index 78% rename from evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp rename to evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics_calculator.hpp index 372d4a34af62c..0a70d6477de1a 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp +++ b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics_calculator.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ -#define KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ +#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ +#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ +#include "autoware/kinematic_evaluator/metrics/metric.hpp" +#include "autoware/kinematic_evaluator/parameters.hpp" #include "autoware/universe_utils/math/accumulator.hpp" -#include "kinematic_evaluator/metrics/metric.hpp" -#include "kinematic_evaluator/parameters.hpp" #include "geometry_msgs/msg/pose.hpp" #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { using autoware::universe_utils::Accumulator; using nav_msgs::msg::Odometry; @@ -52,6 +52,6 @@ class MetricsCalculator const Metric metric, const Odometry & odom, const Accumulator stat_prev) const; }; // class MetricsCalculator -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics -#endif // KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ +#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/parameters.hpp similarity index 71% rename from evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp rename to evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/parameters.hpp index dada46f44292f..22e6fc91720c2 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp +++ b/evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/parameters.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KINEMATIC_EVALUATOR__PARAMETERS_HPP_ -#define KINEMATIC_EVALUATOR__PARAMETERS_HPP_ +#ifndef AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_ +#define AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_ -#include "kinematic_evaluator/metrics/metric.hpp" +#include "autoware/kinematic_evaluator/metrics/metric.hpp" #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { /** * @brief Enumeration of trajectory metrics @@ -29,6 +29,6 @@ struct Parameters std::array(Metric::SIZE)> metrics{}; // default values to false }; // struct Parameters -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics -#endif // KINEMATIC_EVALUATOR__PARAMETERS_HPP_ +#endif // AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_ diff --git a/evaluator/autoware_kinematic_evaluator/launch/kinematic_evaluator.launch.xml b/evaluator/autoware_kinematic_evaluator/launch/kinematic_evaluator.launch.xml new file mode 100644 index 0000000000000..60818f875b9d0 --- /dev/null +++ b/evaluator/autoware_kinematic_evaluator/launch/kinematic_evaluator.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/autoware_kinematic_evaluator/package.xml similarity index 90% rename from evaluator/kinematic_evaluator/package.xml rename to evaluator/autoware_kinematic_evaluator/package.xml index fbd5df3f27765..7118702290f27 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/autoware_kinematic_evaluator/package.xml @@ -1,7 +1,7 @@ - kinematic_evaluator - 0.40.0 + autoware_kinematic_evaluator + 0.41.0 kinematic evaluator ROS 2 node Dominik Jargot @@ -11,6 +11,7 @@ Takayuki Murooka Fumiya Watanabe Satoshi Ota + Junya Sasaki Apache License 2.0 diff --git a/evaluator/kinematic_evaluator/param/kinematic_evaluator.defaults.yaml b/evaluator/autoware_kinematic_evaluator/param/kinematic_evaluator.defaults.yaml similarity index 100% rename from evaluator/kinematic_evaluator/param/kinematic_evaluator.defaults.yaml rename to evaluator/autoware_kinematic_evaluator/param/kinematic_evaluator.defaults.yaml diff --git a/evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json b/evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json similarity index 100% rename from evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json rename to evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json diff --git a/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp b/evaluator/autoware_kinematic_evaluator/src/kinematic_evaluator_node.cpp similarity index 95% rename from evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp rename to evaluator/autoware_kinematic_evaluator/src/kinematic_evaluator_node.cpp index d34f9deb7f1ba..93a6bf9f046b1 100644 --- a/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp +++ b/evaluator/autoware_kinematic_evaluator/src/kinematic_evaluator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kinematic_evaluator/kinematic_evaluator_node.hpp" +#include "autoware/kinematic_evaluator/kinematic_evaluator_node.hpp" #include "boost/lexical_cast.hpp" @@ -22,7 +22,7 @@ #include #include -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { KinematicEvaluatorNode::KinematicEvaluatorNode(const rclcpp::NodeOptions & node_options) : Node("kinematic_evaluator", node_options) @@ -139,7 +139,7 @@ geometry_msgs::msg::Pose KinematicEvaluatorNode::getCurrentEgoPose() const return p; } -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(kinematic_diagnostics::KinematicEvaluatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::kinematic_diagnostics::KinematicEvaluatorNode) diff --git a/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp b/evaluator/autoware_kinematic_evaluator/src/metrics/kinematic_metrics.cpp similarity index 64% rename from evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp rename to evaluator/autoware_kinematic_evaluator/src/metrics/kinematic_metrics.cpp index d410863a05010..c686a60436803 100644 --- a/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp +++ b/evaluator/autoware_kinematic_evaluator/src/metrics/kinematic_metrics.cpp @@ -12,19 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kinematic_evaluator/metrics/kinematic_metrics.hpp" +#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp" -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { namespace metrics { -Accumulator updateVelocityStats(const double & value, const Accumulator stat_prev) +autoware::universe_utils::Accumulator updateVelocityStats( + const double & value, const autoware::universe_utils::Accumulator stat_prev) { - Accumulator stat(stat_prev); + autoware::universe_utils::Accumulator stat(stat_prev); stat.add(value); return stat; } } // namespace metrics -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics diff --git a/evaluator/kinematic_evaluator/src/metrics_calculator.cpp b/evaluator/autoware_kinematic_evaluator/src/metrics_calculator.cpp similarity index 82% rename from evaluator/kinematic_evaluator/src/metrics_calculator.cpp rename to evaluator/autoware_kinematic_evaluator/src/metrics_calculator.cpp index 8b0f581817b38..85b3711ce7c8f 100644 --- a/evaluator/kinematic_evaluator/src/metrics_calculator.cpp +++ b/evaluator/autoware_kinematic_evaluator/src/metrics_calculator.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kinematic_evaluator/metrics_calculator.hpp" +#include "autoware/kinematic_evaluator/metrics_calculator.hpp" -#include "kinematic_evaluator/metrics/kinematic_metrics.hpp" +#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp" -namespace kinematic_diagnostics +namespace autoware::kinematic_diagnostics { Accumulator MetricsCalculator::updateStat( const Metric metric, const Odometry & odom, const Accumulator stat_prev) const @@ -31,4 +31,4 @@ Accumulator MetricsCalculator::updateStat( } } -} // namespace kinematic_diagnostics +} // namespace autoware::kinematic_diagnostics diff --git a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp b/evaluator/autoware_kinematic_evaluator/test/test_kinematic_evaluator_node.cpp similarity index 89% rename from evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp rename to evaluator/autoware_kinematic_evaluator/test/test_kinematic_evaluator_node.cpp index 769f98416848f..9e8288a3a7f91 100644 --- a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp +++ b/evaluator/autoware_kinematic_evaluator/test/test_kinematic_evaluator_node.cpp @@ -18,7 +18,7 @@ #include "rclcpp/time.hpp" #include "tf2_ros/transform_broadcaster.h" -#include +#include #include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" @@ -32,7 +32,7 @@ #include #include -using EvalNode = kinematic_diagnostics::KinematicEvaluatorNode; +using EvalNode = autoware::kinematic_diagnostics::KinematicEvaluatorNode; using diagnostic_msgs::msg::DiagnosticArray; using nav_msgs::msg::Odometry; @@ -44,7 +44,8 @@ class EvalTest : public ::testing::Test rclcpp::init(0, nullptr); rclcpp::NodeOptions options; - const auto share_dir = ament_index_cpp::get_package_share_directory("kinematic_evaluator"); + const auto share_dir = + ament_index_cpp::get_package_share_directory("autoware_kinematic_evaluator"); options.arguments( {"--ros-args", "--params-file", share_dir + "/param/kinematic_evaluator.defaults.yaml"}); @@ -70,9 +71,9 @@ class EvalTest : public ::testing::Test ~EvalTest() override { /*rclcpp::shutdown();*/ } - void setTargetMetric(kinematic_diagnostics::Metric metric) + void setTargetMetric(autoware::kinematic_diagnostics::Metric metric) { - const auto metric_str = kinematic_diagnostics::metric_to_str.at(metric); + const auto metric_str = autoware::kinematic_diagnostics::metric_to_str.at(metric); const auto is_target_metric = [metric_str](const auto & status) { return status.name == metric_str; }; @@ -130,7 +131,7 @@ class EvalTest : public ::testing::Test TEST_F(EvalTest, TestVelocityStats) { - setTargetMetric(kinematic_diagnostics::Metric::velocity_stats); + setTargetMetric(autoware::kinematic_diagnostics::Metric::velocity_stats); Odometry odom = makeOdometry(0.0); EXPECT_DOUBLE_EQ(publishOdometryAndGetMetric(odom), 0.0); Odometry odom2 = makeOdometry(1.0); diff --git a/evaluator/autoware_localization_evaluator/CHANGELOG.rst b/evaluator/autoware_localization_evaluator/CHANGELOG.rst index 0c24579d3004d..b21f49b633da2 100644 --- a/evaluator/autoware_localization_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_localization_evaluator/CHANGELOG.rst @@ -1,7 +1,26 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package localization_evaluator +Changelog for package autoware_localization_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `evaluator/localization_evaluator` (`#9954 `_) + * feat(localization_evaluator): apply `autoware\_` prefix (see below): + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(localization_evaluator): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(localization_evaluator): fix include paths + * To follow the previous commit + * rename: `localization_evaluator` => `autoware_localization_evaluator` + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/evaluator/autoware_localization_evaluator/package.xml b/evaluator/autoware_localization_evaluator/package.xml index e5b0f3f7ffe20..69f4b4eeb818c 100644 --- a/evaluator/autoware_localization_evaluator/package.xml +++ b/evaluator/autoware_localization_evaluator/package.xml @@ -1,7 +1,7 @@ autoware_localization_evaluator - 0.40.0 + 0.41.0 localization evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst b/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst index c3ffd03cce3b1..551ae877439f8 100644 --- a/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst @@ -1,7 +1,32 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package perception_online_evaluator +Changelog for package autoware_perception_online_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `perception_online_evaluator` (`#9956 `_) + * feat(perception_online_evaluator): apply `autoware\_` prefix (see below): + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * bug(perception_online_evaluator): remove duplicated properties + * It seems the `motion_evaluator` is defined and used in the `autoware_planning_evaluator` + * rename(perception_online_evaluator): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(perception_online_evaluator): fix include paths + * To follow the previous commit + * rename: `perception_online_evaluator` => `autoware_perception_online_evaluator` + * style(pre-commit): autofix + * bug(autoware_perception_online_evaluator): revert wrongly updated copyright + * bug(autoware_perception_online_evaluator): `autoware\_` prefix is not needed here + * update: `CODEOWNERS` + * bug(autoware_perception_online_evaluator): fix a wrong package name + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/evaluator/autoware_perception_online_evaluator/package.xml b/evaluator/autoware_perception_online_evaluator/package.xml index 198ef5fae247c..b8e50f6bf593c 100644 --- a/evaluator/autoware_perception_online_evaluator/package.xml +++ b/evaluator/autoware_perception_online_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_perception_online_evaluator - 0.40.0 + 0.41.0 ROS 2 node for evaluating perception Fumiya Watanabe Kosuke Takeuchi diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index 77f544ae078fa..198c6216a9416 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package autoware_planning_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9859 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files evaluator/autoware_planning_evaluator +* fix(planning_evaluator): update lateral_trajectory_displacement to absolute value (`#9696 `_) + * fix(planning_evaluator): update lateral_trajectory_displacement to absolute value + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_planning_evaluator): rename lateral deviation metrics (`#9801 `_) + * refactor(planning_evaluator): rename and add lateral trajectory displacement metrics + * fix typo + --------- +* feat(planning_evaluator): add evaluation feature of trajectory lateral displacement (`#9718 `_) + * feat(planning_evaluator): add evaluation feature of trajectory lateral displacement + * feat(metrics_calculator): implement lookahead trajectory calculation and remove deprecated method + * fix(planning_evaluator): rename lateral_trajectory_displacement to trajectory_lateral_displacement for consistency + --------- +* fix(autoware_planning_evaluator): fix bugprone-exception-escape (`#9730 `_) + fix: bugprone-exception-escape +* feat(planning_evaluator): add lateral trajectory displacement metrics (`#9674 `_) + * feat(planning_evaluator): add nearest pose deviation msg + * update comment contents + * update variable name + * Revert "update variable name" + This reverts commit ee427222fcbd2a18ffbc20fecca3ad557f527e37. + * move lateral_trajectory_displacement position + * prev.dist -> prev_lateral_deviation + --------- +* Contributors: Fumiya Watanabe, Kazunori-Nakajima, Kyoichi Sugahara, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 4389b2e52f44d..22c3b93035e9d 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_planning_evaluator - 0.40.0 + 0.41.0 ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst similarity index 95% rename from evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst rename to evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst index 7b583a3da7959..5bf589f24fb9a 100644 --- a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst +++ b/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst @@ -1,7 +1,27 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package scenario_simulator_v2_adapter +Changelog for package autoware_scenario_simulator_v2_adapter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) + * feat(autoware_scenario_simulator_v2_adapter): apply `autoware\_` prefix (see below): + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(scenario_simulator_v2_adapter): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(scenario_simulator_v2_adapter): fix include paths + * To follow the previous commit + * rename: `scenario_simulator_v2_adapter` => `autoware_scenario_simulator_v2_adapter` + * bug(autoware_scenario_simulator_v2_adapter): revert wrongly updated copyrights + * bug(autoware_scenario_simulator_v2_adapter): `autoware\_` prefix is not needed here + * bug(autoware_scenario_simulator_v2_adapter): wrong package name in launch side + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt b/evaluator/autoware_scenario_simulator_v2_adapter/CMakeLists.txt similarity index 60% rename from evaluator/scenario_simulator_v2_adapter/CMakeLists.txt rename to evaluator/autoware_scenario_simulator_v2_adapter/CMakeLists.txt index 576bd9682725a..7e45858383e71 100644 --- a/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt +++ b/evaluator/autoware_scenario_simulator_v2_adapter/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version -project(scenario_simulator_v2_adapter) +project(autoware_scenario_simulator_v2_adapter) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) @@ -16,24 +16,24 @@ find_package(pluginlib REQUIRED) ament_auto_find_build_dependencies() -ament_auto_add_library(${PROJECT_NAME}_node SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/converter_node.cpp ) -rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "scenario_simulator_v2_adapter::MetricConverter" - EXECUTABLE ${PROJECT_NAME} +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::scenario_simulator_v2_adapter::MetricConverter" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_${PROJECT_NAME} + ament_add_gtest(test_scenario_simulator_v2_adapter test/test_converter_node.cpp ) - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME}_node + target_link_libraries(test_scenario_simulator_v2_adapter + ${PROJECT_NAME} ) endif() diff --git a/evaluator/scenario_simulator_v2_adapter/README.md b/evaluator/autoware_scenario_simulator_v2_adapter/README.md similarity index 100% rename from evaluator/scenario_simulator_v2_adapter/README.md rename to evaluator/autoware_scenario_simulator_v2_adapter/README.md diff --git a/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml b/evaluator/autoware_scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml similarity index 100% rename from evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml rename to evaluator/autoware_scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml diff --git a/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp b/evaluator/autoware_scenario_simulator_v2_adapter/include/autoware/scenario_simulator_v2_adapter/converter_node.hpp similarity index 84% rename from evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp rename to evaluator/autoware_scenario_simulator_v2_adapter/include/autoware/scenario_simulator_v2_adapter/converter_node.hpp index 1ac4585035277..a8afc6dcd9e21 100644 --- a/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp +++ b/evaluator/autoware_scenario_simulator_v2_adapter/include/autoware/scenario_simulator_v2_adapter/converter_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2023 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ -#define SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ +#ifndef AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ +#define AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ #include @@ -27,7 +27,7 @@ #include #include -namespace scenario_simulator_v2_adapter +namespace autoware::scenario_simulator_v2_adapter { using tier4_metric_msgs::msg::Metric; using tier4_metric_msgs::msg::MetricArray; @@ -61,6 +61,6 @@ class MetricConverter : public rclcpp::Node std::vector::SharedPtr>> params_pub_; }; -} // namespace scenario_simulator_v2_adapter +} // namespace autoware::scenario_simulator_v2_adapter -#endif // SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ +#endif // AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/autoware_scenario_simulator_v2_adapter/package.xml similarity index 87% rename from evaluator/scenario_simulator_v2_adapter/package.xml rename to evaluator/autoware_scenario_simulator_v2_adapter/package.xml index 3922bc84d78d5..481be97c9a871 100644 --- a/evaluator/scenario_simulator_v2_adapter/package.xml +++ b/evaluator/autoware_scenario_simulator_v2_adapter/package.xml @@ -1,13 +1,14 @@ - scenario_simulator_v2_adapter - 0.40.0 + autoware_scenario_simulator_v2_adapter + 0.41.0 Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT Takamasa Horibe Takamasa Horibe + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json b/evaluator/autoware_scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json similarity index 100% rename from evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json rename to evaluator/autoware_scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json diff --git a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp b/evaluator/autoware_scenario_simulator_v2_adapter/src/converter_node.cpp similarity index 90% rename from evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp rename to evaluator/autoware_scenario_simulator_v2_adapter/src/converter_node.cpp index 4c0464b8b2d41..8ccfc2e3854d3 100644 --- a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp +++ b/evaluator/autoware_scenario_simulator_v2_adapter/src/converter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2023 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scenario_simulator_v2_adapter/converter_node.hpp" +#include "autoware/scenario_simulator_v2_adapter/converter_node.hpp" #include #include #include -namespace +namespace autoware::scenario_simulator_v2_adapter { std::string removeInvalidTopicString(const std::string & input_string) { @@ -31,10 +31,7 @@ std::string removeInvalidTopicString(const std::string & input_string) } return result; } -} // namespace -namespace scenario_simulator_v2_adapter -{ MetricConverter::MetricConverter(const rclcpp::NodeOptions & node_options) : Node("scenario_simulator_v2_adapter", node_options) { @@ -81,7 +78,7 @@ rclcpp::Publisher::SharedPtr MetricConverter::getPublisher( } return pubs.at(topic_name); } -} // namespace scenario_simulator_v2_adapter +} // namespace autoware::scenario_simulator_v2_adapter #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(scenario_simulator_v2_adapter::MetricConverter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::scenario_simulator_v2_adapter::MetricConverter) diff --git a/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp b/evaluator/autoware_scenario_simulator_v2_adapter/test/test_converter_node.cpp similarity index 95% rename from evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp rename to evaluator/autoware_scenario_simulator_v2_adapter/test/test_converter_node.cpp index de2a12ac2caaa..d7ecfc50a1bcf 100644 --- a/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp +++ b/evaluator/autoware_scenario_simulator_v2_adapter/test/test_converter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2023 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scenario_simulator_v2_adapter/converter_node.hpp" +#include "autoware/scenario_simulator_v2_adapter/converter_node.hpp" #include @@ -28,7 +28,7 @@ #include #include -using ConverterNode = scenario_simulator_v2_adapter::MetricConverter; +using ConverterNode = autoware::scenario_simulator_v2_adapter::MetricConverter; using tier4_metric_msgs::msg::Metric; using tier4_metric_msgs::msg::MetricArray; using tier4_simulation_msgs::msg::UserDefinedValue; diff --git a/evaluator/kinematic_evaluator/README.md b/evaluator/kinematic_evaluator/README.md deleted file mode 100644 index 7cc826195c1b4..0000000000000 --- a/evaluator/kinematic_evaluator/README.md +++ /dev/null @@ -1,7 +0,0 @@ -# Kinematic Evaluator - -TBD - -## Parameters - -{{json_to_markdown("evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json")}} diff --git a/evaluator/kinematic_evaluator/launch/kinematic_evaluator.launch.xml b/evaluator/kinematic_evaluator/launch/kinematic_evaluator.launch.xml deleted file mode 100644 index ebb89c2897ce3..0000000000000 --- a/evaluator/kinematic_evaluator/launch/kinematic_evaluator.launch.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index 5892c238a3bd6..3e4e35d92c0a0 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_autoware_api_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index 290aa80bcdad7..5cd633a65277d 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -2,7 +2,7 @@ tier4_autoware_api_launch - 0.40.0 + 0.41.0 The tier4_autoware_api_launch package Takagi, Isamu Ryohsuke Mitsudome diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index 3f94ac4f2b2e0..c762f0fe3a27c 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -2,6 +2,31 @@ Changelog for package tier4_control_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `predicted_path_checker` (`#9985 `_) + * feat(predicted_path_checker): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(predicted_path_checker): move headers under `include/autoware` + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(predicted_path_checker): fix include header paths + * To follow the previous commit + * rename: `predicted_path_checker` => `autoware_predicted_path_checker` + * style(pre-commit): autofix + * bug(autoware_predicted_path_checker): fix inconsistent namespacings + * bug(autoware_predicted_path_checker): do not change node name + * This might contaminate topic name + * style(pre-commit): autofix + * bug(tier4_control_launch): fix wrong package/plugin names + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 2b0339f1c5cad..f35f02e1d0a80 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -257,7 +257,7 @@ - + diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index d9a2f9883cbce..8f9fec3c289ff 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -2,7 +2,7 @@ tier4_control_launch - 0.40.0 + 0.41.0 The tier4_control_launch package Takamasa Horibe Takayuki Murooka diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index 991f04240d04d..8e11fb9ff877a 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_localization_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index e686bf627be5c..5a79e29858725 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.40.0 + 0.41.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index 5ba95030bf15b..beb24e7e79641 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_map_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index ba512960af1b2..66f2f9490192a 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.40.0 + 0.41.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index b8ac734476a36..f6315cc25ac6d 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package tier4_perception_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) +* fix(launch): fix missing changes for launch (`#10007 `_) + bug(launch): fix missing changes for following PRs: + * https://github.com/autowarefoundation/autoware.universe/pull/9956 + * https://github.com/autowarefoundation/autoware.universe/pull/9970 +* fix(tier4_perception_launch): rearrange roi based cluster pipeline (`#9938 `_) +* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) + * refactor: fix condition for publishing painted pointcloud message + * fix: publish output revised + * feat: fix condition for publishing painted pointcloud message + * feat: roi-pointclout fusion - publish empty image even when there is no target roi + * fix: remap output topic for clusters in roi_pointcloud_fusion + * style(pre-commit): autofix + * feat: fix condition for publishing painted pointcloud message + * feat: Add debug publisher for internal debugging + * feat: remove !! pointer to bool conversion + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) + feat: enable anonymized node names to be configurable +* refactor(tier4_perception_launch): refactoring detection launchers (`#9611 `_) + * feat: Update object detection launch files to include input and output arguments + The object detection launch files have been updated to include input and output arguments for better flexibility and modularity. This allows for easier integration with other components and improves the overall performance of the system. + ``` + * feat: Update object detection launch files to include input and output arguments + * refactor: Update object detection launch files for better readability + * Update object detection launch files to include clustering output argument + * fix: pass ns argument to the lidar_rule_detector + * refactor: make euclidean_cluster not to use use_pointcloud_container and mark explicitly + --------- +* fix(tier4_perception_launch): update multi-channel subscribing channel name to lidar_detection_model_type (`#9624 `_) + * feat: update object detection channels in tracking.launch.xml + The object detection channels in the `tracking.launch.xml` file have been updated to include the lidar detection model type. + * feat: support even the validator is not used + add variable use_validator to the tracking launch and determine the subscribing channel depends on the use_validator value + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki, Taekjin LEE, badai nguyen + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 9f325466ed107..ffa6291257b87 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -287,7 +287,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 613223fa960bd..41a019a40590c 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.40.0 + 0.41.0 The tier4_perception_launch package Yukihiro Saito Shunsuke Miura diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index efa4a02803c46..92c390600ee79 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package tier4_planning_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 0acb4738d8068..431450c4f24a2 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.40.0 + 0.41.0 The tier4_planning_launch package diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index 7e6e12e53a08c..272cd43756e65 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_sensing_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index 6e7553ac9f8f0..8ee3618b75eed 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.40.0 + 0.41.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index 569da150b16ae..a600556bace8e 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -2,6 +2,76 @@ Changelog for package tier4_simulator_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) +* fix(tier4_simulator_launch): fix a wrong package name: `fault_injection` => `autoware_fault_injection` (`#10014 `_) +* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) + * feat(autoware_scenario_simulator_v2_adapter): apply `autoware\_` prefix (see below): + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(scenario_simulator_v2_adapter): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(scenario_simulator_v2_adapter): fix include paths + * To follow the previous commit + * rename: `scenario_simulator_v2_adapter` => `autoware_scenario_simulator_v2_adapter` + * bug(autoware_scenario_simulator_v2_adapter): revert wrongly updated copyrights + * bug(autoware_scenario_simulator_v2_adapter): `autoware\_` prefix is not needed here + * bug(autoware_scenario_simulator_v2_adapter): wrong package name in launch side + --------- +* feat: apply `autoware\_` prefix for `simple_planning_simulator` (`#9995 `_) + * feat(simple_planning_simulator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(simple_planning_simulator): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(simple_planning_simulator): fix include header paths + * To follow the previous commit + * rename: `simple_planning_simulator` => `autoware_simple_planning_simulator` + * bug(autoware_simple_planning_simulator): fix missing changes + * style(pre-commit): autofix + * bug(autoware_simple_planning_simulator): fix errors in build and tests + * I had to run after `rm -rf install build`, ... sorry + * style(pre-commit): autofix + * Fixed NOLINT + * Added NOLINT + * Fixed to autoware_simple_planning_simulator + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Sakoda +* feat: apply `autoware\_` prefix for `vehicle_door_simulator` (`#9997 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: apply `autoware\_` prefix for `fault_injection` (`#9989 `_) + * feat(fault_injection): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(fault_injection): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(fault_injection): fix include header paths + * To follow the previous commit + * rename: `fault_injection` => `autoware_fault_injection` + * Fixed exec_depend + --------- + Co-authored-by: SakodaShintaro +* fix(launch): fix missing changes for launch (`#10007 `_) + bug(launch): fix missing changes for following PRs: + * https://github.com/autowarefoundation/autoware.universe/pull/9956 + * https://github.com/autowarefoundation/autoware.universe/pull/9970 +* fix(tier4_simulator_launch): add use_validator argument to simulator launch (`#9634 `_) + * feat: add use_validator argument to simulator launch + * feat: set variables explicitly + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki, Taekjin LEE + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 1255061a474db..1ff16f2f4fe81 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -40,14 +40,14 @@ - + - + @@ -111,7 +111,7 @@ - + @@ -208,7 +208,7 @@ - + diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index f12209f4ab3ef..85a57324b6851 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.40.0 + 0.41.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka @@ -14,9 +14,9 @@ ament_cmake_auto autoware_cmake + autoware_dummy_perception_publisher autoware_fault_injection autoware_simple_planning_simulator - dummy_perception_publisher ament_lint_auto autoware_lint_common diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index 9ffb34c4599a9..1f03f4c66db02 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -2,6 +2,81 @@ Changelog for package tier4_system_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) +* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) + * feat(system_monitor): apply `autoware\_` prefix (see below): + * The `system_monitor` operates independently from other modules in `autoware.universe`, so the `autoware\_` prefix is added only to the package name. + * The `autoware::` namespace is not used because C language does not support namespaces. + * Headers are not moved under `include/autoware` to maintain compatibility for use outside the `autoware` context. + * For users utilizing this package within `autoware.universe`, only the package name includes the `autoware\_` prefix. + This approach explains the unique namespacing and naming conventions for `system_monitor` compared to other packages. + * bug(system_monitor): fix missing package name update + * rename: `system_monitor` => `autoware_system_monitor` + * style(pre-commit): autofix + * update: `CODEOWNERS` + * bug(autoware_system_monitor): apply missing fix + * update: `CODEOWNERS` + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) + * feat(mrm_comfortable_stop_operator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_comfortable_stop_operator): move a header under `include/autoware` + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_comfortable_stop_operator): fix include header path + * To follow the previous commit + * rename: `mrm_comfortable_stop_operator` => `autoware_mrm_comfortable_stop_operator` + * update: `CODEOWNERS` + --------- +* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) + * feat(mrm_emergency_stop_operator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_emergency_stop_operator): move a header under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_emergency_stop_operator): fix include header path + * To follow the previous commit + * rename: `mrm_emergency_stop_operator` => `autoware_mrm_emergency_stop_operator` + * bug(autoware_mrm_emergency_stop_operator): revert wrongly updated copyrights + * bug(tier4_system_launch): fix a missing `autoware\_` for `mrm_emergency_stop_operator` + * bug(autoware_mrm_emergency_stop_operator): fix critical bugs that contaminate topic names + --------- +* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) + * feat(mrm_handler): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_handler): move a header under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_handler): fix include header path + * To follow the previous commit + * rename: `mrm_handler` => `autoware_mrm_handler` + * bug(tier4_system_launch): fix a missing `autoware\_` for `mrm_handler` + * bug(mrm_handler): revert wrongly updated copyrights + * update(mrm_handler): `README.md` + * bug(autoware_mrm_handler): fix a critical bug that contaminates topic name + --------- +* fix(launch): fix missing changes for launch (`#10007 `_) + bug(launch): fix missing changes for following PRs: + * https://github.com/autowarefoundation/autoware.universe/pull/9956 + * https://github.com/autowarefoundation/autoware.universe/pull/9970 +* fix(tier4_system_launch): add autoware prefix to dummy diag publisher launcher (`#9959 `_) + fix: add autoare\_ to dummy_diag_publisher +* Contributors: Fumiya Watanabe, Junya Sasaki, TetsuKawa + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index c37db6bca4ffe..c22b8b091bf59 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -39,7 +39,7 @@ - + @@ -72,7 +72,7 @@ - + @@ -80,19 +80,19 @@ - + - + - + @@ -100,12 +100,12 @@ - + - + diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 9f5678b937dbc..318d6a2673c50 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.40.0 + 0.41.0 The tier4_system_launch package Fumihito Ito TetsuKawa @@ -11,8 +11,8 @@ ament_cmake_auto autoware_cmake - component_state_monitor - system_monitor + autoware_component_state_monitor + autoware_system_monitor ament_lint_auto autoware_lint_common diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index 1b5a1271e9fe3..6da13259c5612 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_vehicle_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 583bbf325db05..80f07dab5383e 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.40.0 + 0.41.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index b8e74c530e059..9f520e0d9c112 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package autoware_ekf_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_)" (`#10004 `_) + This reverts commit 037c315fbee69bb5923ec10bb8e8e70f890725ea. +* feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_) + * feat: delete ekf_localizer files + * doc: Modify ekf_localizer directory links + * ci: remove ekf_localizer from the codecov target list + --------- +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fies localization/autoware_ekf_localizer (`#9860 `_) + Co-authored-by: SakodaShintaro +* feat(ekf_localizer): check whether the initialpose has been set (`#9787 `_) + * check set intialpose + * update png + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Motz, Ryohsuke Mitsudome, Vishal Chauhan, Yamato Ando + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index e0e37f59d1acb..ff510862eb089 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ekf_localizer - 0.40.0 + 0.41.0 The autoware_ekf_localizer package Takamasa Horibe Yamato Ando diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 1b45974da9cc2..2c8750eb5fd31 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_geo_pose_projector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index f7240c83ab152..5981e61836b05 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.40.0 + 0.41.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index 529fe48f7b459..063d1aaa4fd62 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package autoware_gyro_odometer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, kminoda + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index 87474c0b13c0f..c05867de34aaa 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.40.0 + 0.41.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index 36d7431a499ff..9c61094b6596e 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_ar_tag_based_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index 4aab7e0b5cdaf..b69ebe21480d4 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.40.0 + 0.41.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index f6d4cf6766e84..167dd0bbf5e0d 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_landmark_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index c33b8a751ce7f..3339070979535 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.40.0 + 0.41.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index a7edd5b7d2a69..d2a3371ad096b 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_lidar_marker_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_lidar_marker_localization): fix segmentation fault (`#8943 `_) + * fix segmentation fault + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Yamato Ando, kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index c365f7ef040dc..dc0b8cf663c06 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.40.0 + 0.41.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index 69833a04a8d3a..8b99b4870eaa1 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package autoware_localization_error_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, kminoda + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index f7f9e635e85d6..d3ba2e2852e51 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.40.0 + 0.41.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index 8040641aa2cef..c9ef88ac152f5 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_ndt_scan_matcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files localization/autoware_ndt_scan_matcher (`#9861 `_) + Co-authored-by: SakodaShintaro +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan, kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/nanoflann.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/nanoflann.hpp index 1be7284c51580..1c9d9ebae3b40 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/nanoflann.hpp +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/nanoflann.hpp @@ -2467,4 +2467,4 @@ struct KDTreeEigenMatrixAdaptor /** @} */ // end of grouping } // namespace nanoflann -//NOLINTEND \ No newline at end of file +// NOLINTEND diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index ebd1ebda2d573..bdcee3a98f043 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.40.0 + 0.41.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index 3f17982f52f31..497a2f0cebc6a 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_pose2twist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_pose2twist (`#9866 `_) +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index cfde18d430cfd..88e046f2e5cad 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.40.0 + 0.41.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index 6fc366d3d01d5..8861c5725883c 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package autoware_pose_covariance_modifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_)" (`#10004 `_) + This reverts commit 037c315fbee69bb5923ec10bb8e8e70f890725ea. +* feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_) + * feat: delete ekf_localizer files + * doc: Modify ekf_localizer directory links + * ci: remove ekf_localizer from the codecov target list + --------- +* Contributors: Motz, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index 7825bd59b78f9..49bf3362983d8 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 0.40.0 + 0.41.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 381b77546e008..7fabd13c0f3ff 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_pose_estimator_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index c6a47ae5755b3..b9ffae2137037 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.40.0 + 0.41.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index 45473a9444270..b89892adb13a8 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) + * feat!: move diagnostics_module from localization_util to unverse_utils + * remove diagnostics module from localization_util + * style(pre-commit): autofix + * minor fix in pose_initializer + * add test + * style(pre-commit): autofix + * remove unnecessary declaration + * module -> interface + * remove unnecessary equal expression + * revert the remove of template function + * style(pre-commit): autofix + * use overload instead + * include what you use -- test_diagnostics_interface.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki, Ryohsuke Mitsudome, kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 693dcad0260b5..cff9fc1fec3e5 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.40.0 + 0.41.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index b95dcaf6f01c8..d629e317c17f9 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_pose_instability_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index 91a565446f9e9..249ea6d625673 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.40.0 + 0.41.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index f91a3b8de7f05..f3379ac25cd32 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package autoware_stop_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files localization/autoware_stop_filter (`#9867 `_) + Co-authored-by: SakodaShintaro +* fix(autoware_stop_filter): fix bugprone-reserved-identifier (`#9643 `_) + * fix: bugprone-reserved-identifier + * fix: fmt + --------- +* Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index 50ba98484f59d..b047b0cd81baa 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.40.0 + 0.41.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 89b22e6ae4f26..d1e7bb13638d1 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_twist2accel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_twist2accel): remove an unused dependency (`#9881 `_) + Removed an unused dependency +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_twist2accel (`#9868 `_) + Co-authored-by: SakodaShintaro +* Contributors: Fumiya Watanabe, SakodaShintaro, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index 092b227c2ad40..1a19bb3132ef2 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.40.0 + 0.41.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index 6812e5ca633ca..66c6039b9fd67 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package yabloc_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 5a8f19ff16bd7..58a77fe138f28 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.40.0 + 0.41.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index bf4c1279fffdc..72f305b9ca340 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package yabloc_image_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index c3202e8bfaebf..2cc9f817b1ec8 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.40.0 + 0.41.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index c7cb3c7dc307d..fe9126f5e0442 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package yabloc_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index 1a0dbb6c7fdfa..b77f96c9dab81 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.40.0 + 0.41.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 935aecb810449..fdaecc4d86187 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package yabloc_particle_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index 074ff19334852..244cf88da7b0a 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.40.0 + 0.41.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index 0b78a98bf07fd..88ee7b5b3c4c3 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package yabloc_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index 4fd346f6327ad..c4bdfb63c150e 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.40.0 + 0.41.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst index 3d95ca5f804b2..fef302aececdf 100644 --- a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst +++ b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst @@ -3,6 +3,9 @@ Changelog for package autoware_lanelet2_map_visualizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml index eef83f90ec142..717445bef13ad 100644 --- a/map/autoware_lanelet2_map_visualizer/package.xml +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -2,7 +2,7 @@ autoware_lanelet2_map_visualizer - 0.40.0 + 0.41.0 The autoware_lanelet2_map_visualizer package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index d600473d9756f..8d29e1323cfa8 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_map_height_fitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index 98a48704c0c4b..50c4a4447f364 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.40.0 + 0.41.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index a9e1080f1d6ec..f769ba0bbe7ad 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 08d41466ec6ef..638014a65f04f 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_loader - 0.40.0 + 0.41.0 The autoware_map_loader package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index eef30e5c5f159..8ccadf6bccac0 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_map_projection_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index d3d739ea9ca7e..160cca26ba891 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.40.0 + 0.41.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index 963e450bd4856..e856c3fef19ba 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_map_tf_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index 0e81321daea2e..c9646f04687bf 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.40.0 + 0.41.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 2db62f9a4e374..ec6f3f935b05c 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_bytetrack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_bytetrack): fix bugprone-reserved-identifier (`#9647 `_) + fix: bugprone-reserved-identifier +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 4dc982595c588..bc05293b80e0c 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.40.0 + 0.41.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index 1acdbf9333f30..a98cd3e5dba7f 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_cluster_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index 92e1a8aadf40c..78959b657f724 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.40.0 + 0.41.0 The ROS 2 cluster merger package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 8d784ca304874..d6034e76e5ab5 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_compare_map_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_compare_map_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9869 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_compare_map_segmentation + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index 8c07d29156f8a..c633ebc808af9 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.40.0 + 0.41.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index 34e514d13e007..c628c4d310161 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -2,6 +2,29 @@ Changelog for package autoware_crosswalk_traffic_light_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_crosswalk_traffic_light_estimator)!: tier4_debug_msgs changes to autoware_internal_debug_msgs in autoware_crosswalk_traffic_light_estimator (`#9870 `_) +* chore(autoware_crosswalk_traffic_light_estimator): fix docs (`#9822 `_) + * fix docs + * fix docs + * add tlr output image + * modify sentense + * modify sentense + * refactor readme + * fix docs + * fix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_crosswalk_traffic_light_estimator): overwrite invalid detection result (`#9667 `_) + * add code in order to check invalid detection + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Masato Saeki, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index c96ad1e2135c1..e0cd5d9b917ca 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.40.0 + 0.41.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index f0d4f1f746eaa..79965097ad8e3 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_detected_object_feature_remover ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index a112598728614..a2b7e89adc1f2 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.40.0 + 0.41.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index bde610a8e3fd5..0486c6cbe2a41 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package autoware_detected_object_validation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_detected_object_validation): add height filter in lanelet filtering (`#10003 `_) + * feat: add height filter param + * feat: use ego base height + * fix: build error + * feat: add lanelet filter test + * feat: add height filter test + * docs: update README and lanelet filter + * fix: do not getTransform when flag is off + --------- +* feat(autoware_detected_object_validation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9871 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_detected_object_validation + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(autoware_detected_object_validation): set validate distance in the obstacle pointcloud based validator (`#9663 `_) + * chore: add validate_max_distance_m parameter for obstacle_pointcloud_based_validator + * chore: optimize object distance validation in obstacle_pointcloud_validator + * chore: add validate_max_distance_m parameter for obstacle_pointcloud_based_validator + --------- +* Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, Yoshi Ri + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index 9aa6f018de5fa..01c48bbebc756 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 0.40.0 + 0.41.0 The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index dd8a44828a5ff..78e72f5a9cdff 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_detection_by_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9880 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_detection_by_tracker + Co-authored-by: Taekjin LEE +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index b9ee4fa2aac71..fccd8f32bbebc 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 0.40.0 + 0.41.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index b53c69f07a8a9..c967ebe6326cd 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_elevation_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index 6839cd60e2990..a24bf2e0b8062 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.40.0 + 0.41.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index b7ce92ddd6510..ef7b29edf7f0a 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_euclidean_cluster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_euclidean_cluster)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_euclidean_cluster (`#9873 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_euclidean_cluster + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index f4568baaea19b..8bac386a5bbb6 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.40.0 + 0.41.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index b23cfa4972f1f..36a8adae770fe 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_ground_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_ground_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9878 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_ground_segmentation +* fix(autoware_ground_segmentation): fix bugprone-branch-clone (`#9648 `_) + fix: bugprone-branch-clone +* Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 1cb179970e1ae..b1ef241dd52cf 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.40.0 + 0.41.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index f0a39ef78c708..2f146bdf94bf0 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -2,6 +2,133 @@ Changelog for package autoware_image_projection_based_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_image_projection_based_fusion)!: tier4_debug-msgs changed to autoware_internal_debug_msgs in autoware_image_projection_based_fusion (`#9877 `_) +* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) + * refactor: fix condition for publishing painted pointcloud message + * fix: publish output revised + * feat: fix condition for publishing painted pointcloud message + * feat: roi-pointclout fusion - publish empty image even when there is no target roi + * fix: remap output topic for clusters in roi_pointcloud_fusion + * style(pre-commit): autofix + * feat: fix condition for publishing painted pointcloud message + * feat: Add debug publisher for internal debugging + * feat: remove !! pointer to bool conversion + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(image_projection_based_fusion): remove mutex (`#9862 `_) + refactor: Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability +* refactor(autoware_image_projection_based_fusion): organize 2d-detection related members (`#9789 `_) + * chore: input_camera_topics\_ is only for debug + * feat: fuse main message with cached roi messages in fusion_node.cpp + * chore: add comments on each process step, organize methods + * feat: Export process method in fusion_node.cpp + Export the `exportProcess()` method in `fusion_node.cpp` to handle the post-processing and publishing of the fused messages. This method cancels the timer, performs the necessary post-processing steps, publishes the output message, and resets the flags. It also adds processing time for debugging purposes. This change improves the organization and readability of the code. + * feat: Refactor fusion_node.hpp and fusion_node.cpp + Refactor the `fusion_node.hpp` and `fusion_node.cpp` files to improve code organization and readability. This includes exporting the `exportProcess()` method in `fusion_node.cpp` to handle post-processing and publishing of fused messages, adding comments on each process step, organizing methods, and fusing the main message with cached ROI messages. These changes enhance the overall quality of the codebase. + * Refactor fusion_node.cpp and fusion_node.hpp for improved code organization and readability + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * feat: Refactor fusion_node.cpp for improved code organization and readability + * Refactor fusion_node.cpp for improved code organization and readability + * feat: implement mutex per 2d detection process + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * revise template, inputs first and output at the last + * explicit in and out types 1 + * clarify pointcloud message type + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * Refactor publisher types in fusion_node.hpp and node.hpp + * fix: resolve cppcheck issue shadowVariable + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * chore: rename Det2dManager to Det2dStatus + * revert mutex related changes + * refactor: review member and method's access + * fix: resolve shadowVariable of 'det2d' + * fix missing line + * refactor message postprocess and publish methods + * publish the main message is common + * fix: replace pointcloud message type by the typename + * review member access + * Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability + * refactor: fix condition for publishing painted pointcloud message + * fix: remove unused variable + --------- +* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) +* feat(pointpainting_fusion): enable cloud display on image (`#9813 `_) +* feat(image_projection_based_fusion): add cache for camera projection (`#9635 `_) + * add camera_projection class and projection cache + * style(pre-commit): autofix + * fix FOV filtering + * style(pre-commit): autofix + * remove unused includes + * update schema + * fix cpplint error + * apply suggestion: more simple and effcient computation + * correct terminology + * style(pre-commit): autofix + * fix comments + * fix var name + Co-authored-by: Taekjin LEE + * fix variable names + Co-authored-by: Taekjin LEE + * fix variable names + Co-authored-by: Taekjin LEE + * fix variable names + Co-authored-by: Taekjin LEE + * fix variable names + Co-authored-by: Taekjin LEE + * fix variable names + * fix initialization + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + * add verification to point_project_to_unrectified_image when loading + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + * chore: add option description to project points to unrectified image + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* feat(image_projection_based_fusion): add timekeeper (`#9632 `_) + * add timekeeper + * chore: refactor time-keeper position + * chore: bring back a missing comment + * chore: remove redundant timekeepers + --------- + Co-authored-by: Taekjin LEE +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Masaki Baba, Taekjin LEE, Vishal Chauhan, Yi-Hsiang Fang (Vivid), kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index fa6217f589627..a15642728e1d9 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -2,7 +2,7 @@ autoware_image_projection_based_fusion - 0.40.0 + 0.41.0 The autoware_image_projection_based_fusion package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index 5841ae3059503..dd8864ef5a0ef 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_lidar_apollo_instance_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_lidar_apollo_instance_segmentation): tier4_debug_msgs to autoware_internal_debug_msgs in files perce… (`#9876 `_) + feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_lidar_apollo_instance_segmentation + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 8ff7ce77d943d..7e09587aef8a1 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.40.0 + 0.41.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index 46f68e7462377..3978a514305a8 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_lidar_centerpoint ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) +* fix(autoware_lidar_centerpoint): fixed rounding errors that caused illegal memory access (`#9795 `_) + fix: fixed rounding errors that caused illegal memory address +* feat(autoware_lidar_centerpoint): process front voxels first (`#9608 `_) + * feat: optimize voxel indexing in preprocess_kernel.cu + * fix: remove redundant index check + * fix: modify voxel index for better memory access + --------- +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Kenzo Lobos Tsunekawa, Taekjin LEE, kminoda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 78e900f8198f6..a4eb5c6758f61 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 0.40.0 + 0.41.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index f397c9e1ddc06..f1f2809947e39 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_lidar_transfusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(autoware_lidar_transfusion): fixed rounding errors that caused illegal memory access (`#9796 `_) + fix: fixed rounding errors that caused illegal memory address + Co-authored-by: Amadeusz Szymko +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Kenzo Lobos Tsunekawa + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index d9c43bc5a1b20..f9fd376e8be9a 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 0.40.0 + 0.41.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index 55bc24894c230..0a67ffc40d586 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_map_based_prediction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(map_based_prediction): fix unintentional accumulation of lanelets (`#9950 `_) + add clear before insert +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9875 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_map_based_prediction +* Contributors: Fumiya Watanabe, Masaki Baba, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 58dfcb17c7631..fa6a1195b1ed2 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.40.0 + 0.41.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 5fced913f2b9d..b9d8d5f982397 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -2,6 +2,87 @@ Changelog for package autoware_multi_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(multi_object_tracker): integrate odometry and transform processes (`#9912 `_) + * feat: Add odometry processor to multi-object tracker + * refactor: Refactor Odometry class for improved code organization and readability + * feat: Refactor Odometry class for improved code organization and readability + * refactor: Transform objects to world coordinate in Odometry class + refactor: Transform objects to world coordinate in Odometry class + refactor: Update Odometry class to get transform from tf with source frame ID + feat: Update Odometry class to get transform from tf with source frame ID + fix: move necessare tr2 header + * Revert "refactor: Transform objects to world coordinate in Odometry class" + This reverts commit efca28a40105f80deb09d57b55cb6f9d83ffda2c. + * refactor: Remove unnecessary tf2 headers from tracker models + * fix: move transform obtainer to odometry class + * refactor: Update Odometry class to get transform from tf with source frame ID + * refactor: Transform objects to world coordinate in Odometry class + * refactor: remove transformObjects from shapes + * refactor: Update Odometry class to use 'updateFromTf' instead of 'setOdometryFromTf' + * refactor: Update Odometry class to use 'updateFromTf' instead of 'setOdometryFromTf' + * refactor: Update InputManager to include Odometry in constructor + * refactor: Move odometry.cpp to lib folder + * move object transform to input stream + * refactor: Add enable_odometry_uncertainty parameter to Odometry constructor + * refactor: Update Odometry class to return optional Odometry from getOdometryFromTf + * refactor: Update Odometry class to use tf_cache\_ for storing and retrieving transforms + * refactor: Update Odometry class to use tf_cache\_ for storing and retrieving transforms + * refactor: bring odometry covariance modeler into odometry class + * refactor: Remove redundant code for updating tf cache in Odometry::updateTfCache + * refactor: Update runProcess parameter name to detected_objects + --------- +* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perc… (`#9879 `_) + feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_multi_object_tracker +* chore(autoware_multi_object_tracker): fix autoware univserse documentation page (`#9772 `_) + * feat: Add descriptions for confidence thresholds in multi_object_tracker_node schema + * feat: Update multi_object_tracker_node schema with confidence threshold descriptions + --------- +* refactor(autoware_multi_object_tracker): define a new internal object class (`#9706 `_) + * feat: Add dynamic_object.hpp to object_model directory + * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp + * fix: replace object message type to the DynamicObject type + * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp + * chore: add channel index to the DynamicObjects + * Revert "chore: add channel index to the DynamicObjects" + This reverts commit c7e73f08a8d17b5b085dd330dbf187aabbec6879. + * fix: replace trackedobject in the process + * fix: Replace transformObjects with shapes::transformObjects for object transformation + * chore: add channel index to the DynamicObjects + * feat: separate shape related functions + * chore: clean up utils.hpp + * chore: Update function signatures to use DynamicObjectList instead of DynamicObjects + * chore: Add channel index to DynamicObject and DynamicObjectList + * chore: Refactor processor and debugger classes to remove channel_index parameter + * chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp + * Refactor object tracker classes to remove self_transform parameter + * Refactor object tracker classes to use shapes namespace for shape-related functions + * Refactor object tracker classes to use types.hpp for object model types + * Refactor object tracker classes to remove unused utils.hpp + * Refactor object tracker classes to use types.hpp for object model types + * chore: rename to types.cpp + * rename getDynamicObject to toDynamicObject + * Update perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp + Co-authored-by: Yukihiro Saito + --------- + Co-authored-by: Yukihiro Saito +* fix(autoware_multi_object_tracker): fix bugprone-errors (`#9651 `_) + fix: bugprone-errors +* refactor(autoware_multi_object_tracker): add configurable tracker parameters (`#9621 `_) + * refactor(autoware_multi_object_tracker): add configurable tracker parameters + * style(pre-commit): autofix + * refactor(autoware_multi_object_tracker): remove default values from parameter declarations + * refactor(autoware_multi_object_tracker): update schema file + * style(pre-commit): autofix + * Update perception/autoware_multi_object_tracker/src/processor/processor.cpp + * Update perception/autoware_multi_object_tracker/src/processor/processor.cpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, jakor97, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 912165d7b6ab6..08f9ac89e1d91 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 0.40.0 + 0.41.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index 004d56c406ce9..864cc6779fdf5 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_object_merger): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9893 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_object_merger + Co-authored-by: Taekjin LEE +* fix(perception): fix perception docs (`#9766 `_) + * fix: fix perception docs + * fix: fix missing parameter in schema + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * style(pre-commit): autofix + * chore: seperate paramters for different nodes + --------- + Co-authored-by: Taekjin LEE + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) + feat: enable anonymized node names to be configurable +* Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, Yi-Hsiang Fang (Vivid) + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index 481bb0babf20d..be9dec7a83c80 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.40.0 + 0.41.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index 2ad998b66391f..b7969830ce765 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_object_range_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index bfc8470834443..8c1d17faf629a 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.40.0 + 0.41.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index ec69fb1754d3b..2c7b06c4e5bb1 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_object_velocity_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index 681b29b0c49e8..45a3c635150f4 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.40.0 + 0.41.0 autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index cf7dc5752c62d..db5cf2bb9a118 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_occupancy_grid_map_outlier_filter): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9894 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_occupancy_grid_map_outlier_filter + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* fix(perception): fix perception docs (`#9766 `_) + * fix: fix perception docs + * fix: fix missing parameter in schema + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * style(pre-commit): autofix + * chore: seperate paramters for different nodes + --------- + Co-authored-by: Taekjin LEE + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan, Yi-Hsiang Fang (Vivid) + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index fba074fdc669f..113213b65e6d0 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.40.0 + 0.41.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index 75d579b612168..b161d11d6524b 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_probabilistic_occupancy_grid_map ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation (`#9542 `_) + * feat: implemented a cuda accelerated ogm + * chore: fixed cspells + * chore: unused header and variable names + * chore: cspell fixes + * chore: cppcheck fix attempt + * fix: attempting to fix ci/cd regarding the cuda library + * chore: fixed the order of the cuda check in the cmakelist + * fix: removed cuda as a required dep for cpu only builds + * fix: missing cuda linking (?) + * feat: fixed single mode, added streams, and added the restrict keyword + * chore: replaced a potential indetermination using an epsilon + * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu + Co-authored-by: Yoshi Ri + * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu + Co-authored-by: Yoshi Ri + * style(pre-commit): autofix + * chore: added bound checkings in the update origin kernel + * chore: disabled tests since universe does not support cuda in ci/cd + * chore: added me as a maintainer + * fix: missedn the end in the cmake + * chore: moved the boudnary checks to only the cuda version since the cpu version uses the upstream logic + --------- + Co-authored-by: Yoshi Ri + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_probabilistic_occupancy_grid_map): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_probabilistic_occupancy_grid_map (`#9895 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_probabilistic_occupancy_grid_map + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* fix(perception): fix perception docs (`#9766 `_) + * fix: fix perception docs + * fix: fix missing parameter in schema + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json + Co-authored-by: Taekjin LEE + * style(pre-commit): autofix + * chore: seperate paramters for different nodes + --------- + Co-authored-by: Taekjin LEE + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-clone (`#9652 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, Vishal Chauhan, Yi-Hsiang Fang (Vivid), kobayu858 + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt index 28342ecb5bcff..7dda1604f10f3 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt @@ -4,27 +4,54 @@ project(autoware_probabilistic_occupancy_grid_map) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(CUDA) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED) +if(NOT ${CUDA_FOUND}) + message(WARNING "cuda was not found, so the autoware_probabilistic_occupancy_grid_map package will not be built.") + return() +endif() + include_directories( + include SYSTEM + ${CUDA_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} + ${grid_map_ros_INCLUDE_DIRS} +) + +# cSpell: ignore expt +list(APPEND CUDA_NVCC_FLAGS --expt-relaxed-constexpr -diag-suppress 20012 --compiler-options -fPIC) +set(CUDA_SEPARABLE_COMPILATION ON) +set(CMAKE_POSITION_INDEPENDENT_CODE ON) + +cuda_add_library(${PROJECT_NAME}_cuda SHARED + lib/costmap_2d/occupancy_grid_map_fixed_kernel.cu + lib/costmap_2d/occupancy_grid_map_projective_kernel.cu + lib/updater/binary_bayes_filter_updater_kernel.cu + lib/updater/log_odds_bayes_filter_updater_kernel.cu + lib/utils/utils_kernel.cu +) + +target_link_libraries(${PROJECT_NAME}_cuda + ${CUDA_LIBRARIES} ) ament_auto_add_library(${PROJECT_NAME}_common SHARED + lib/costmap_2d/occupancy_grid_map_base.cpp lib/updater/binary_bayes_filter_updater.cpp lib/utils/utils.cpp ) target_link_libraries(${PROJECT_NAME}_common ${PCL_LIBRARIES} + ${PROJECT_NAME}_cuda ) # PointcloudBasedOccupancyGridMap ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp - lib/costmap_2d/occupancy_grid_map_base.cpp lib/costmap_2d/occupancy_grid_map_fixed.cpp lib/costmap_2d/occupancy_grid_map_projective.cpp ) @@ -32,6 +59,7 @@ ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED target_link_libraries(pointcloud_based_occupancy_grid_map ${PCL_LIBRARIES} ${PROJECT_NAME}_common + ${PROJECT_NAME}_cuda ) rclcpp_components_register_node(pointcloud_based_occupancy_grid_map @@ -73,6 +101,11 @@ rclcpp_components_register_node(synchronized_grid_map_fusion EXECUTABLE synchronized_grid_map_fusion_node ) +install( + TARGETS ${PROJECT_NAME}_cuda + DESTINATION lib +) + ament_auto_package( INSTALL_TO_SHARE launch @@ -80,27 +113,31 @@ ament_auto_package( ) # test -if(BUILD_TESTING) - # launch_testing - find_package(launch_testing_ament_cmake REQUIRED) - add_launch_test(test/test_pointcloud_based_method.py) - add_launch_test(test/test_synchronized_grid_map_fusion_node.py) - - # gtest - ament_add_gtest(test_utils - test/test_utils.cpp - ) - ament_add_gtest(costmap_unit_tests - test/cost_value_test.cpp - ) - ament_add_gtest(fusion_policy_unit_tests - test/fusion_policy_test.cpp - lib/fusion_policy/fusion_policy.cpp - ) - target_link_libraries(test_utils - ${PCL_LIBRARIES} - ${PROJECT_NAME}_common - ) - target_include_directories(costmap_unit_tests PRIVATE "include") - target_include_directories(fusion_policy_unit_tests PRIVATE "include") -endif() +# Temporary disabled, tracked by: +# https://github.com/autowarefoundation/autoware.universe/issues/7724 +#if(BUILD_TESTING) +# # launch_testing +# find_package(launch_testing_ament_cmake REQUIRED) +# add_launch_test(test/test_pointcloud_based_method.py) +# add_launch_test(test/test_synchronized_grid_map_fusion_node.py) +# +# # gtest +# ament_add_gtest(test_utils +# test/test_utils.cpp +# ) +# ament_add_gtest(costmap_unit_tests +# test/cost_value_test.cpp +# ) +# ament_add_gtest(fusion_policy_unit_tests +# test/fusion_policy_test.cpp +# lib/fusion_policy/fusion_policy.cpp +# ) +# target_link_libraries(test_utils +# ${CUDA_LIBRARIES} +# ${PCL_LIBRARIES} +# ${PROJECT_NAME}_common +# ${PROJECT_NAME}_cuda +# ) +# target_include_directories(costmap_unit_tests PRIVATE "include") +# target_include_directories(fusion_policy_unit_tests PRIVATE "include") +#endif() diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp index 93e768c0f6b4e..5fe3613cc7612 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp @@ -52,7 +52,8 @@ #ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_ -#include +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" + #include #include @@ -66,7 +67,7 @@ namespace costmap_2d using geometry_msgs::msg::Pose; using sensor_msgs::msg::PointCloud2; -class OccupancyGridMap : public nav2_costmap_2d::Costmap2D +class OccupancyGridMap : public OccupancyGridMapInterface { public: OccupancyGridMap( @@ -78,8 +79,6 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D void updateOccupiedCells(const PointCloud2 & pointcloud); - void updateOrigin(double new_origin_x, double new_origin_y) override; - private: void raytraceFreespace(const PointCloud2 & pointcloud, const Pose & robot_pose); @@ -87,6 +86,8 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const; + void initRosParam([[maybe_unused]] rclcpp::Node & node) override {} + rclcpp::Logger logger_{rclcpp::get_logger("laserscan_based_occupancy_grid_map")}; rclcpp::Clock clock_{RCL_ROS_TIME}; }; diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp index 09ad0a4d554a1..c77345a973c50 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp @@ -52,6 +52,9 @@ #ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ +#include "autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp" + +#include #include #include #include @@ -72,18 +75,17 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D { public: OccupancyGridMapInterface( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution); virtual void updateWithPointCloud( - const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, - const Pose & robot_pose, const Pose & scan_origin) = 0; + [[maybe_unused]] const CudaPointCloud2 & raw_pointcloud, + [[maybe_unused]] const CudaPointCloud2 & obstacle_pointcloud, + [[maybe_unused]] const Pose & robot_pose, [[maybe_unused]] const Pose & scan_origin) {}; void updateOrigin(double new_origin_x, double new_origin_y) override; - void raytrace( - const double source_x, const double source_y, const double target_x, const double target_y, - const unsigned char cost); - void setCellValue(const double wx, const double wy, const unsigned char cost); - using nav2_costmap_2d::Costmap2D::resetMaps; + + void resetMaps() override; virtual void initRosParam(rclcpp::Node & node) = 0; @@ -92,47 +94,34 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D double min_height_; double max_height_; - void setFieldOffsets(const PointCloud2 & input_raw, const PointCloud2 & input_obstacle); - - int x_offset_raw_; - int y_offset_raw_; - int z_offset_raw_; - int x_offset_obstacle_; - int y_offset_obstacle_; - int z_offset_obstacle_; - bool offset_initialized_; - const double min_angle_ = autoware::universe_utils::deg2rad(-180.0); const double max_angle_ = autoware::universe_utils::deg2rad(180.0); const double angle_increment_inv_ = 1.0 / autoware::universe_utils::deg2rad(0.1); Eigen::Matrix4f mat_map_, mat_scan_; - bool isPointValid(const Eigen::Vector4f & pt) const - { - // Apply height filter and exclude invalid points - return min_height_ < pt[2] && pt[2] < max_height_ && std::isfinite(pt[0]) && - std::isfinite(pt[1]) && std::isfinite(pt[2]); - } - // Transform pt to (pt_map, pt_scan), then calculate angle_bin_index and range - void transformPointAndCalculate( - const Eigen::Vector4f & pt, Eigen::Vector4f & pt_map, int & angle_bin_index, - double & range) const - { - pt_map = mat_map_ * pt; - Eigen::Vector4f pt_scan(mat_scan_ * pt_map); - const double angle = atan2(pt_scan[1], pt_scan[0]); - angle_bin_index = (angle - min_angle_) * angle_increment_inv_; - range = std::sqrt(pt_scan[1] * pt_scan[1] + pt_scan[0] * pt_scan[0]); - } - -private: - bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const; + bool isCudaEnabled() const; + + const autoware::cuda_utils::CudaUniquePtr & getDeviceCostmap() const; + void copyDeviceCostmapToHost() const; + +protected: rclcpp::Logger logger_{rclcpp::get_logger("pointcloud_based_occupancy_grid_map")}; rclcpp::Clock clock_{RCL_ROS_TIME}; double resolution_inv_; + + cudaStream_t stream_; + + bool use_cuda_; + autoware::cuda_utils::CudaUniquePtr device_costmap_; + autoware::cuda_utils::CudaUniquePtr device_costmap_aux_; + + autoware::cuda_utils::CudaUniquePtr device_rotation_map_; + autoware::cuda_utils::CudaUniquePtr device_translation_map_; + autoware::cuda_utils::CudaUniquePtr device_rotation_scan_; + autoware::cuda_utils::CudaUniquePtr device_translation_scan_; }; } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp index 3301fd1987bd3..320d297e0a4d1 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_ #include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp" namespace autoware::occupancy_grid_map { @@ -28,21 +29,20 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface { public: OccupancyGridMapFixedBlindSpot( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution); void updateWithPointCloud( - const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const CudaPointCloud2 & raw_pointcloud, const CudaPointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) override; - using OccupancyGridMapInterface::raytrace; - using OccupancyGridMapInterface::setCellValue; - using OccupancyGridMapInterface::setFieldOffsets; - using OccupancyGridMapInterface::updateOrigin; - void initRosParam(rclcpp::Node & node) override; -private: +protected: double distance_margin_; + + autoware::cuda_utils::CudaUniquePtr raw_points_tensor_; + autoware::cuda_utils::CudaUniquePtr obstacle_points_tensor_; }; } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed_kernel.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed_kernel.hpp new file mode 100644 index 0000000000000..d87c8eec718e1 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed_kernel.hpp @@ -0,0 +1,60 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_KERNEL_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_KERNEL_HPP_ + +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" + +#include + +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d::map_fixed +{ + +void prepareTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream); + +void fillEmptySpaceLaunch( + const std::uint64_t * points_tensor, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t empty_value, std::uint8_t * costmap_tensor, cudaStream_t stream); + +void fillUnknownSpaceLaunch( + const std::uint64_t * raw_points_tensor, const std::uint64_t * obstacle_points_tensor, + const float distance_margin, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, std::uint8_t * costmap_tensor, + cudaStream_t stream); + +void fillObstaclesLaunch( + const std::uint64_t * points_tensor, const float distance_margin, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float map_origin_x, + const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * costmap_tensor, cudaStream_t stream); + +} // namespace costmap_2d::map_fixed +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp index 7569a60b36466..9b23b9ecf8cb6 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp @@ -32,25 +32,22 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface { public: OccupancyGridMapProjectiveBlindSpot( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution); void updateWithPointCloud( - const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const CudaPointCloud2 & raw_pointcloud, const CudaPointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) override; - using OccupancyGridMapInterface::raytrace; - using OccupancyGridMapInterface::setCellValue; - using OccupancyGridMapInterface::setFieldOffsets; - using OccupancyGridMapInterface::updateOrigin; - void initRosParam(rclcpp::Node & node) override; private: - double projection_dz_threshold_; - double obstacle_separation_threshold_; - bool pub_debug_grid_; - grid_map::GridMap debug_grid_; - rclcpp::Publisher::SharedPtr debug_grid_map_publisher_ptr_; + float projection_dz_threshold_; + float obstacle_separation_threshold_; + + autoware::cuda_utils::CudaUniquePtr raw_points_tensor_; + autoware::cuda_utils::CudaUniquePtr obstacle_points_tensor_; + autoware::cuda_utils::CudaUniquePtr device_translation_scan_origin_; }; } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective_kernel.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective_kernel.hpp new file mode 100644 index 0000000000000..916cf6ed9ec0a --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective_kernel.hpp @@ -0,0 +1,70 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_KERNEL_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_KERNEL_HPP_ + +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" + +#include + +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d::map_projective +{ + +void prepareRawTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream); + +void prepareObstacleTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const float projection_dz_threshold, + const Eigen::Vector3f * translation_scan_origin, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream); + +void fillEmptySpaceLaunch( + const std::uint64_t * points_tensor, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t empty_value, std::uint8_t * costmap_tensor, cudaStream_t stream); + +void fillUnknownSpaceLaunch( + const std::uint64_t * raw_points_tensor, const std::uint64_t * obstacle_points_tensor, + const float obstacle_separation_threshold, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float scan_origin_x, + const float scan_origin_y, const float scan_origin_z, const float map_origin_x, + const float map_origin_y, const float robot_pose_z, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, std::uint8_t * costmap_tensor, + cudaStream_t stream); + +void fillObstaclesLaunch( + const std::uint64_t * points_tensor, const float distance_margin, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float map_origin_x, + const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * costmap_tensor, cudaStream_t stream); + +} // namespace costmap_2d::map_projective +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp index af28b7962b3bc..fe5739f2cadc7 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_ +#include "autoware/cuda_utils/cuda_unique_ptr.hpp" #include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" #include @@ -27,16 +28,19 @@ namespace costmap_2d class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface { public: - enum Index : size_t { OCCUPIED = 0U, FREE = 1U }; + enum Index : size_t { OCCUPIED = 0U, FREE = 1U, NUM_STATES = 2U }; OccupancyGridMapBBFUpdater( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); - bool update(const Costmap2D & single_frame_occupancy_grid_map) override; + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution); + bool update(const OccupancyGridMapInterface & single_frame_occupancy_grid_map) override; void initRosParam(rclcpp::Node & node) override; private: inline unsigned char applyBBF(const unsigned char & z, const unsigned char & o); Eigen::Matrix2f probability_matrix_; double v_ratio_; + + autoware::cuda_utils::CudaUniquePtr device_probability_matrix_; }; } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater_kernel.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater_kernel.hpp new file mode 100644 index 0000000000000..feef6f2815a0f --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater_kernel.hpp @@ -0,0 +1,36 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ + +#include + +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d +{ + +void applyBBFLaunch( + const std::uint8_t * z_costmap, const float * probability_matrix, const int num_states, + const int free_index, const int occupied_index, const std::uint8_t free_space_value, + const std::uint8_t lethal_obstacle_value, const std::uint8_t no_information_value, + const double v_ratio_, const int num_elements, std::uint8_t * o_costmap, cudaStream_t stream); + +} // namespace costmap_2d +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp index d7bb1184c06d6..d24fc7c46331d 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp @@ -32,18 +32,18 @@ namespace costmap_2d class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface { public: - enum Index : size_t { OCCUPIED = 0U, FREE = 1U }; + enum Index : size_t { OCCUPIED = 0U, FREE = 1U, NUM_STATES = 2U }; OccupancyGridMapLOBFUpdater( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) - : OccupancyGridMapUpdaterInterface(cells_size_x, cells_size_y, resolution) + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) + : OccupancyGridMapUpdaterInterface(use_cuda, cells_size_x, cells_size_y, resolution) { } - bool update(const Costmap2D & single_frame_occupancy_grid_map) override; + bool update(const OccupancyGridMapInterface & single_frame_occupancy_grid_map) override; void initRosParam(rclcpp::Node & node) override; private: inline unsigned char applyLOBF(const unsigned char & z, const unsigned char & o); - Eigen::Matrix2f probability_matrix_; }; } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater_kernel.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater_kernel.hpp new file mode 100644 index 0000000000000..c8ff015ca27a2 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater_kernel.hpp @@ -0,0 +1,35 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_KERNEL_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_KERNEL_HPP_ + +#include + +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d +{ + +// cspell: ignore LOBF +void applyLOBFLaunch( + const std::uint8_t * z_costmap, const std::uint8_t no_information_value, const int num_elements, + std::uint8_t * o_costmap, cudaStream_t stream); + +} // namespace costmap_2d +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp index 75231089ac33c..ae9f824bb9beb 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp @@ -16,24 +16,26 @@ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_ #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" -#include #include namespace autoware::occupancy_grid_map { namespace costmap_2d { -class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D +class OccupancyGridMapUpdaterInterface : public OccupancyGridMapInterface { public: OccupancyGridMapUpdaterInterface( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) - : Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) + bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) + : OccupancyGridMapInterface(use_cuda, cells_size_x, cells_size_y, resolution) { } virtual ~OccupancyGridMapUpdaterInterface() = default; - virtual bool update(const Costmap2D & single_frame_occupancy_grid_map) = 0; + virtual bool update(const OccupancyGridMapInterface & single_frame_occupancy_grid_map) = 0; virtual void initRosParam(rclcpp::Node & node) = 0; }; diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp new file mode 100644 index 0000000000000..8c78e2ad915b5 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp @@ -0,0 +1,55 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__CUDA_POINTCLOUD_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__CUDA_POINTCLOUD_HPP_ + +#include + +#include + +#include + +class CudaPointCloud2 : public sensor_msgs::msg::PointCloud2 +{ +public: + void fromROSMsgAsync(const sensor_msgs::msg::PointCloud2 & msg) + { + // cSpell: ignore knzo25 + // NOTE(knzo25): replace this with the cuda blackboard later + header = msg.header; + fields = msg.fields; + height = msg.height; + width = msg.width; + is_bigendian = msg.is_bigendian; + point_step = msg.point_step; + row_step = msg.row_step; + is_dense = msg.is_dense; + + if (!data || capacity_ < msg.data.size()) { + capacity_ = 1024 * (msg.data.size() / 1024 + 1); + data = autoware::cuda_utils::make_unique(capacity_); + } + + cudaMemcpyAsync(data.get(), msg.data.data(), msg.data.size(), cudaMemcpyHostToDevice, stream); + } + + autoware::cuda_utils::CudaUniquePtr data; + cudaStream_t stream; + +private: + std::size_t capacity_{0}; +}; + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__CUDA_POINTCLOUD_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp index 41c7294ded849..9a9a441af3d60 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp @@ -16,6 +16,8 @@ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" #include #include @@ -50,52 +52,12 @@ namespace autoware::occupancy_grid_map namespace utils { -/** - * @brief 3D point struct for sorting and searching - * - */ -struct MyPoint3d -{ - float x; - float y; - float z; - - // constructor - MyPoint3d(float x, float y, float z) : x(x), y(y), z(z) {} - - // calc squared norm - float norm2() const { return powf(x, 2) + powf(y, 2) + powf(z, 2); } - - // calc arctan2 - float arctan2() const { return atan2f(y, x); } - - // overload operator< - bool operator<(const MyPoint3d & other) const - { - const auto a = norm2(); - const auto b = other.norm2(); - if (a == b) { // escape when norm2 is same - return arctan2() < other.arctan2(); - } else { - return a < b; - } - } - - // overload operator== - bool operator==(const MyPoint3d & other) const - { - return fabsf(x - other.x) < FLT_EPSILON && fabsf(y - other.y) < FLT_EPSILON && - fabsf(z - other.z) < FLT_EPSILON; - } -}; - bool transformPointcloud( const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output); -void transformPointcloud( - const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, - sensor_msgs::msg::PointCloud2 & output); +bool transformPointcloudAsync( + CudaPointCloud2 & input, const tf2_ros::Buffer & tf2, const std::string & target_frame); Eigen::Matrix4f getTransformMatrix(const geometry_msgs::msg::Pose & pose); @@ -116,10 +78,6 @@ geometry_msgs::msg::Pose getPose( // get inverted pose geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose); -bool extractCommonPointCloud( - const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc, - sensor_msgs::msg::PointCloud2 & output_obstacle_pc); - } // namespace utils } // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp new file mode 100644 index 0000000000000..a335a4a6e5b93 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp @@ -0,0 +1,52 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_KERNEL_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_KERNEL_HPP_ + +#include + +#include + +#include + +namespace autoware::occupancy_grid_map +{ +namespace utils +{ + +void __device__ setCellValue( + float wx, float wy, float origin_x, float origin_y, float resolution_inv, int size_x, int size_y, + std::uint8_t value, std::uint8_t * costmap_tensor); + +void __device__ raytrace( + const float source_x, const float source_y, const float target_x, const float target_y, + const float origin_x, float origin_y, const float resolution_inv, const int size_x, + const int size_y, const std::uint8_t cost, std::uint8_t * costmap_tensor); + +void copyMapRegionLaunch( + const std::uint8_t * source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, + unsigned int sm_size_x, unsigned int sm_size_y, std::uint8_t * dest_map, + unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, + unsigned int dm_size_y, unsigned int region_size_x, unsigned int region_size_y, + cudaStream_t stream); + +void transformPointCloudLaunch( + std::uint8_t * points, std::size_t num_points, std::size_t points_step, + const Eigen::Matrix3f & rotation, const Eigen::Vector3f & translation, cudaStream_t stream); + +} // namespace utils +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp index 25eafcd564e2d..082985ca824af 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp @@ -65,7 +65,7 @@ using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMap::OccupancyGridMap( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) +: OccupancyGridMapInterface(false, cells_size_x, cells_size_y, resolution) { } @@ -85,57 +85,6 @@ bool OccupancyGridMap::worldToMap(double wx, double wy, unsigned int & mx, unsig return false; } -void OccupancyGridMap::updateOrigin(double new_origin_x, double new_origin_y) -{ - // project the new origin into the grid - int cell_ox{static_cast(std::floor((new_origin_x - origin_x_) / resolution_))}; - int cell_oy{static_cast(std::floor((new_origin_y - origin_y_) / resolution_))}; - - // compute the associated world coordinates for the origin cell - // because we want to keep things grid-aligned - double new_grid_ox{origin_x_ + cell_ox * resolution_}; - double new_grid_oy{origin_y_ + cell_oy * resolution_}; - - // To save casting from unsigned int to int a bunch of times - int size_x{static_cast(size_x_)}; - int size_y{static_cast(size_y_)}; - - // we need to compute the overlap of the new and existing windows - int lower_left_x{std::min(std::max(cell_ox, 0), size_x)}; - int lower_left_y{std::min(std::max(cell_oy, 0), size_y)}; - int upper_right_x{std::min(std::max(cell_ox + size_x, 0), size_x)}; - int upper_right_y{std::min(std::max(cell_oy + size_y, 0), size_y)}; - - unsigned int cell_size_x = upper_right_x - lower_left_x; - unsigned int cell_size_y = upper_right_y - lower_left_y; - - // we need a map to store the obstacles in the window temporarily - unsigned char * local_map = new unsigned char[cell_size_x * cell_size_y]; - - // copy the local window in the costmap to the local map - copyMapRegion( - costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, - cell_size_y); - - // now we'll set the costmap to be completely unknown if we track unknown space - resetMaps(); - - // update the origin with the appropriate world coordinates - origin_x_ = new_grid_ox; - origin_y_ = new_grid_oy; - - // compute the starting cell location for copying data back in - int start_x{lower_left_x - cell_ox}; - int start_y{lower_left_y - cell_oy}; - - // now we want to copy the overlapping information back into the map, but in its new location - copyMapRegion( - local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); - - // make sure to clean up - delete[] local_map; -} - void OccupancyGridMap::raytrace2D(const PointCloud2 & pointcloud, const Pose & robot_pose) { // freespace diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp index 39855ec36260c..f4d290bd70d7c 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -77,34 +77,35 @@ namespace costmap_2d using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMapInterface::OccupancyGridMapInterface( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) +: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION), + use_cuda_(use_cuda) { - min_height_ = -std::numeric_limits::infinity(); - max_height_ = std::numeric_limits::infinity(); - resolution_inv_ = 1.0 / resolution_; - offset_initialized_ = false; -} - -inline bool OccupancyGridMapInterface::worldToMap( - double wx, double wy, unsigned int & mx, unsigned int & my) const -{ - if (wx < origin_x_ || wy < origin_y_) { - return false; + if (use_cuda_) { + min_height_ = -std::numeric_limits::infinity(); + max_height_ = std::numeric_limits::infinity(); + resolution_inv_ = 1.0 / resolution_; + + const auto num_cells_x = this->getSizeInCellsX(); + const auto num_cells_y = this->getSizeInCellsY(); + + cudaStreamCreate(&stream_); + device_costmap_ = autoware::cuda_utils::make_unique(num_cells_x * num_cells_y); + device_costmap_aux_ = + autoware::cuda_utils::make_unique(num_cells_x * num_cells_y); + + device_rotation_map_ = autoware::cuda_utils::make_unique(); + device_translation_map_ = autoware::cuda_utils::make_unique(); + device_rotation_scan_ = autoware::cuda_utils::make_unique(); + device_translation_scan_ = autoware::cuda_utils::make_unique(); } - - mx = static_cast(std::floor((wx - origin_x_) * resolution_inv_)); - my = static_cast(std::floor((wy - origin_y_) * resolution_inv_)); - - if (mx < size_x_ && my < size_y_) { - return true; - } - - return false; } void OccupancyGridMapInterface::updateOrigin(double new_origin_x, double new_origin_y) { + using autoware::occupancy_grid_map::utils::copyMapRegionLaunch; + // project the new origin into the grid int cell_ox{static_cast(std::floor((new_origin_x - origin_x_) / resolution_))}; int cell_oy{static_cast(std::floor((new_origin_y - origin_y_) / resolution_))}; @@ -128,15 +129,26 @@ void OccupancyGridMapInterface::updateOrigin(double new_origin_x, double new_ori unsigned int cell_size_y = upper_right_y - lower_left_y; // we need a map to store the obstacles in the window temporarily - unsigned char * local_map = new unsigned char[cell_size_x * cell_size_y]; + unsigned char * local_map{nullptr}; + + if (use_cuda_) { + copyMapRegionLaunch( + device_costmap_.get(), lower_left_x, lower_left_y, size_x_, size_y_, + device_costmap_aux_.get(), 0, 0, cell_size_x, cell_size_y, cell_size_x, cell_size_y, stream_); - // copy the local window in the costmap to the local map - copyMapRegion( - costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, - cell_size_y); + cudaMemset( + device_costmap_.get(), cost_value::NO_INFORMATION, size_x_ * size_y_ * sizeof(std::uint8_t)); + } else { + local_map = new unsigned char[cell_size_x * cell_size_y]; - // now we'll set the costmap to be completely unknown if we track unknown space - resetMaps(); + // copy the local window in the costmap to the local map + copyMapRegion( + costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, + cell_size_y); + + // now we'll set the costmap to be completely unknown if we track unknown space + nav2_costmap_2d::Costmap2D::resetMaps(); + } // update the origin with the appropriate world coordinates origin_x_ = new_grid_ox; @@ -147,93 +159,41 @@ void OccupancyGridMapInterface::updateOrigin(double new_origin_x, double new_ori int start_y{lower_left_y - cell_oy}; // now we want to copy the overlapping information back into the map, but in its new location - copyMapRegion( - local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); - - // make sure to clean up - delete[] local_map; -} - -void OccupancyGridMapInterface::setCellValue( - const double wx, const double wy, const unsigned char cost) -{ - MarkCell marker(costmap_, cost); - unsigned int mx{}; - unsigned int my{}; - if (!worldToMap(wx, wy, mx, my)) { - RCLCPP_DEBUG(logger_, "Computing map coords failed"); - return; + if (use_cuda_) { + if ( + start_x < 0 || start_y < 0 || start_x + cell_size_x > size_x_ || + start_y + cell_size_y > size_y_) { + RCLCPP_ERROR( + rclcpp::get_logger("pointcloud_based_occupancy_grid_map"), + "update coordinates are negative or out of bounds: start.x=%d, start.y=%d, cell_size.x=%d, " + "cell_size.y=%d size_x:%d, size_y=%d", + start_x, start_y, cell_size_x, cell_size_y, size_x_, size_y_); + return; + } + + copyMapRegionLaunch( + device_costmap_aux_.get(), 0, 0, cell_size_x, cell_size_y, device_costmap_.get(), start_x, + start_y, size_x_, size_y_, cell_size_x, cell_size_y, stream_); + } else { + copyMapRegion( + local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); + + // make sure to clean up + if (local_map != nullptr) { + delete[] local_map; + } } - const unsigned int index = getIndex(mx, my); - marker(index); } -void OccupancyGridMapInterface::raytrace( - const double source_x, const double source_y, const double target_x, const double target_y, - const unsigned char cost) +void OccupancyGridMapInterface::resetMaps() { - unsigned int x0{}; - unsigned int y0{}; - const double ox{source_x}; - const double oy{source_y}; - if (!worldToMap(ox, oy, x0, y0)) { - RCLCPP_DEBUG( - logger_, - "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot " - "raytrace for it.", - ox, oy); - return; - } - - // we can pre-compute the endpoints of the map outside of the inner loop... we'll need these later - const double origin_x = origin_x_, origin_y = origin_y_; - const double map_end_x = origin_x + size_x_ * resolution_; - const double map_end_y = origin_y + size_y_ * resolution_; - - double wx = target_x; - double wy = target_y; - - // now we also need to make sure that the endpoint we're ray-tracing - // to isn't off the costmap and scale if necessary - const double a = wx - ox; - const double b = wy - oy; - - // the minimum value to raytrace from is the origin - if (wx < origin_x) { - const double t = (origin_x - ox) / a; - wx = origin_x; - wy = oy + b * t; + if (use_cuda_) { + cudaMemsetAsync( + device_costmap_.get(), cost_value::NO_INFORMATION, getSizeInCellsX() * getSizeInCellsY(), + stream_); + } else { + nav2_costmap_2d::Costmap2D::resetMaps(); } - if (wy < origin_y) { - const double t = (origin_y - oy) / b; - wx = ox + a * t; - wy = origin_y; - } - - // the maximum value to raytrace to is the end of the map - if (wx > map_end_x) { - const double t = (map_end_x - ox) / a; - wx = map_end_x - .001; - wy = oy + b * t; - } - if (wy > map_end_y) { - const double t = (map_end_y - oy) / b; - wx = ox + a * t; - wy = map_end_y - .001; - } - - // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint - unsigned int x1{}; - unsigned int y1{}; - - // check for legality just in case - if (!worldToMap(wx, wy, x1, y1)) { - return; - } - - constexpr unsigned int cell_raytrace_range = 10000; // large number to ignore range threshold - MarkCell marker(costmap_, cost); - raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); } void OccupancyGridMapInterface::setHeightLimit(const double min_height, const double max_height) @@ -242,16 +202,22 @@ void OccupancyGridMapInterface::setHeightLimit(const double min_height, const do max_height_ = max_height; } -void OccupancyGridMapInterface::setFieldOffsets( - const PointCloud2 & input_raw, const PointCloud2 & input_obstacle) +bool OccupancyGridMapInterface::isCudaEnabled() const +{ + return use_cuda_; +} + +const autoware::cuda_utils::CudaUniquePtr & +OccupancyGridMapInterface::getDeviceCostmap() const +{ + return device_costmap_; +} + +void OccupancyGridMapInterface::copyDeviceCostmapToHost() const { - x_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "x")].offset; - y_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "y")].offset; - z_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "z")].offset; - x_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "x")].offset; - y_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "y")].offset; - z_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "z")].offset; - offset_initialized_ = true; + cudaMemcpy( + costmap_, device_costmap_.get(), getSizeInCellsX() * getSizeInCellsY() * sizeof(std::uint8_t), + cudaMemcpyDeviceToHost); } } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp index da22ef125fb19..97f36f08c48bd 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,8 +15,11 @@ #include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp" #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed_kernel.hpp" #include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" +#include #include #include #include @@ -41,9 +44,24 @@ namespace costmap_2d using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMapFixedBlindSpot::OccupancyGridMapFixedBlindSpot( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: OccupancyGridMapInterface(cells_size_x, cells_size_y, resolution) + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) +: OccupancyGridMapInterface(use_cuda, cells_size_x, cells_size_y, resolution) { + if (use_cuda_) { + const size_t angle_bin_size = + ((max_angle_ - min_angle_) * angle_increment_inv_) + size_t(1 /*margin*/); + + const auto num_cells_x = this->getSizeInCellsX(); + const auto num_cells_y = this->getSizeInCellsY(); + const std::size_t range_bin_size = + static_cast(std::sqrt(2) * std::max(num_cells_x, num_cells_y) / 2.0) + 1; + + raw_points_tensor_ = + autoware::cuda_utils::make_unique(2 * angle_bin_size * range_bin_size); + obstacle_points_tensor_ = + autoware::cuda_utils::make_unique(2 * angle_bin_size * range_bin_size); + } } /** @@ -55,7 +73,7 @@ OccupancyGridMapFixedBlindSpot::OccupancyGridMapFixedBlindSpot( * @param scan_origin manually chosen grid map origin frame */ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( - const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const CudaPointCloud2 & raw_pointcloud, const CudaPointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) { const size_t angle_bin_size = @@ -69,190 +87,81 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( // Transform Matrix from map frame to scan frame mat_scan_ = utils::getTransformMatrix(scan2map_pose); - if (!offset_initialized_) { - setFieldOffsets(raw_pointcloud, obstacle_pointcloud); - } - - // Create angle bins and sort by distance - struct BinInfo - { - BinInfo() = default; - BinInfo(const double _range, const double _wx, const double _wy) - : range(_range), wx(_wx), wy(_wy) - { - } - double range{}; - double wx{}; - double wy{}; - }; - - std::vector> obstacle_pointcloud_angle_bins(angle_bin_size); - std::vector> raw_pointcloud_angle_bins(angle_bin_size); - - const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height; - const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height; - - // Reserve a certain amount of memory in advance for performance reasons - const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size; - const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size; - for (size_t i = 0; i < angle_bin_size; i++) { - raw_pointcloud_angle_bins[i].reserve(raw_reserve_size); - obstacle_pointcloud_angle_bins[i].reserve(obstacle_reserve_size); - } - - // Updated every loop inside transformPointAndCalculate() - Eigen::Vector4f pt_map; - int angle_bin_index; - double range; - - size_t global_offset = 0; - for (size_t i = 0; i < raw_pointcloud_size; ++i) { - Eigen::Vector4f pt( - *reinterpret_cast(&raw_pointcloud.data[global_offset + x_offset_raw_]), - *reinterpret_cast(&raw_pointcloud.data[global_offset + y_offset_raw_]), - *reinterpret_cast(&raw_pointcloud.data[global_offset + z_offset_raw_]), 1); - global_offset += raw_pointcloud.point_step; - if (!isPointValid(pt)) { - continue; - } - transformPointAndCalculate(pt, pt_map, angle_bin_index, range); - - raw_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]); - } - - for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) { - std::sort(raw_pointcloud_angle_bin.begin(), raw_pointcloud_angle_bin.end(), [](auto a, auto b) { - return a.range < b.range; - }); - } - - // Create obstacle angle bins and sort points by range - global_offset = 0; - for (size_t i = 0; i < obstacle_pointcloud_size; ++i) { - Eigen::Vector4f pt( - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + x_offset_obstacle_]), - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + y_offset_obstacle_]), - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + z_offset_obstacle_]), - 1); - global_offset += obstacle_pointcloud.point_step; - if (!isPointValid(pt)) { - continue; - } - transformPointAndCalculate(pt, pt_map, angle_bin_index, range); - - // Ignore obstacle points exceed the range of the raw points - // No raw point in this angle bin, or obstacle point exceeds the range of the raw points - if ( - raw_pointcloud_angle_bins.at(angle_bin_index).empty() || - range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) { - continue; - } - obstacle_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]); - } - - for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { - std::sort( - obstacle_pointcloud_angle_bin.begin(), obstacle_pointcloud_angle_bin.end(), - [](auto a, auto b) { return a.range < b.range; }); - } - - // First step: Initialize cells to the final point with freespace - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); - - BinInfo end_distance; - if (raw_pointcloud_angle_bin.empty()) { - continue; - } else { - end_distance = raw_pointcloud_angle_bin.back(); - } - raytrace( - scan_origin.position.x, scan_origin.position.y, end_distance.wx, end_distance.wy, - cost_value::FREE_SPACE); - } - - // Second step: Add unknown cell - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - const auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); - const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); - auto raw_distance_iter = raw_pointcloud_angle_bin.begin(); - for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - // Calculate next raw point from obstacle point - while (raw_distance_iter != raw_pointcloud_angle_bin.end()) { - if ( - raw_distance_iter->range < - obstacle_pointcloud_angle_bin.at(dist_index).range + distance_margin_) - raw_distance_iter++; - else - break; - } - - // There is no point far than the obstacle point. - const bool no_freespace_point = (raw_distance_iter == raw_pointcloud_angle_bin.end()); - - if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - if (!no_freespace_point) { - const auto & target = *raw_distance_iter; - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); - } - continue; - } - - auto next_obstacle_point_distance = std::abs( - obstacle_pointcloud_angle_bin.at(dist_index + 1).range - - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= distance_margin_) { - continue; - } else if (no_freespace_point) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - continue; - } - - auto next_raw_distance = - std::abs(obstacle_pointcloud_angle_bin.at(dist_index).range - raw_distance_iter->range); - if (next_raw_distance < next_obstacle_point_distance) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = *raw_distance_iter; - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); - continue; - } else { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - continue; - } - } - } - - // Third step: Overwrite occupied cell - for (const auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { - for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE); - - if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { - continue; - } - - auto next_obstacle_point_distance = std::abs( - obstacle_pointcloud_angle_bin.at(dist_index + 1).range - - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= distance_margin_) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE); - continue; - } - } - } + const auto map_res = this->getResolution(); + const auto num_cells_x = this->getSizeInCellsX(); + const auto num_cells_y = this->getSizeInCellsY(); + const std::size_t range_bin_size = + static_cast(std::sqrt(2) * std::max(num_cells_x, num_cells_y) / 2.0) + 1; + + cudaMemsetAsync( + raw_points_tensor_.get(), 0xFF, 2 * angle_bin_size * range_bin_size * sizeof(std::int64_t), + stream_); + cudaMemsetAsync( + obstacle_points_tensor_.get(), 0xFF, 2 * angle_bin_size * range_bin_size * sizeof(std::int64_t), + stream_); + cudaMemsetAsync( + device_costmap_.get(), cost_value::NO_INFORMATION, + num_cells_x * num_cells_y * sizeof(std::uint8_t), stream_); + + Eigen::Matrix3f rotation_map = mat_map_.block<3, 3>(0, 0); + Eigen::Vector3f translation_map = mat_map_.block<3, 1>(0, 3); + + Eigen::Matrix3f rotation_scan = mat_scan_.block<3, 3>(0, 0); + Eigen::Vector3f translation_scan = mat_scan_.block<3, 1>(0, 3); + + cudaMemcpyAsync( + device_rotation_map_.get(), &rotation_map, sizeof(Eigen::Matrix3f), cudaMemcpyHostToDevice, + stream_); + cudaMemcpyAsync( + device_translation_map_.get(), &translation_map, sizeof(Eigen::Vector3f), + cudaMemcpyHostToDevice, stream_); + cudaMemcpyAsync( + device_rotation_scan_.get(), &rotation_scan, sizeof(Eigen::Matrix3f), cudaMemcpyHostToDevice, + stream_); + cudaMemcpyAsync( + device_translation_scan_.get(), &translation_scan, sizeof(Eigen::Vector3f), + cudaMemcpyHostToDevice, stream_); + + const std::size_t num_raw_points = raw_pointcloud.width * raw_pointcloud.height; + float range_resolution_inv = 1.0 / map_res; + + cudaStreamSynchronize(stream_); + + map_fixed::prepareTensorLaunch( + reinterpret_cast(raw_pointcloud.data.get()), num_raw_points, + raw_pointcloud.point_step / sizeof(float), angle_bin_size, range_bin_size, min_height_, + max_height_, min_angle_, angle_increment_inv_, range_resolution_inv, device_rotation_map_.get(), + device_translation_map_.get(), device_rotation_scan_.get(), device_translation_scan_.get(), + raw_points_tensor_.get(), raw_pointcloud.stream); + + const std::size_t num_obstacle_points = obstacle_pointcloud.width * obstacle_pointcloud.height; + + map_fixed::prepareTensorLaunch( + reinterpret_cast(obstacle_pointcloud.data.get()), num_obstacle_points, + obstacle_pointcloud.point_step / sizeof(float), angle_bin_size, range_bin_size, min_height_, + max_height_, min_angle_, angle_increment_inv_, range_resolution_inv, device_rotation_map_.get(), + device_translation_map_.get(), device_rotation_scan_.get(), device_translation_scan_.get(), + obstacle_points_tensor_.get(), obstacle_pointcloud.stream); + + map_fixed::fillEmptySpaceLaunch( + raw_points_tensor_.get(), angle_bin_size, range_bin_size, range_resolution_inv, + scan_origin.position.x, scan_origin.position.y, origin_x_, origin_y_, num_cells_x, num_cells_y, + cost_value::FREE_SPACE, device_costmap_.get(), raw_pointcloud.stream); + + cudaStreamSynchronize(obstacle_pointcloud.stream); + + map_fixed::fillUnknownSpaceLaunch( + raw_points_tensor_.get(), obstacle_points_tensor_.get(), distance_margin_, angle_bin_size, + range_bin_size, range_resolution_inv, scan_origin.position.x, scan_origin.position.y, origin_x_, + origin_y_, num_cells_x, num_cells_y, cost_value::FREE_SPACE, cost_value::NO_INFORMATION, + device_costmap_.get(), raw_pointcloud.stream); + + map_fixed::fillObstaclesLaunch( + obstacle_points_tensor_.get(), distance_margin_, angle_bin_size, range_bin_size, + range_resolution_inv, origin_x_, origin_y_, num_cells_x, num_cells_y, + cost_value::LETHAL_OBSTACLE, device_costmap_.get(), raw_pointcloud.stream); + + cudaStreamSynchronize(raw_pointcloud.stream); } void OccupancyGridMapFixedBlindSpot::initRosParam(rclcpp::Node & node) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed_kernel.cu b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed_kernel.cu new file mode 100644 index 0000000000000..3614e025875a3 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed_kernel.cu @@ -0,0 +1,388 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed_kernel.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" + +#include +#include + +#include +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d::map_fixed +{ + +static constexpr float RANGE_DISCRETIZATION_RESOLUTION = 0.001f; + +__global__ void prepareTensorKernel( + const float * __restrict__ input_pointcloud, const std::size_t num_points, + const std::size_t points_step, const std::size_t angle_bins, const std::size_t range_bins, + const float min_height, const float max_height, const float min_angle, + const float angle_increment_inv, const float range_resolution_inv, + const Eigen::Matrix3f * __restrict__ rotation_map, + const Eigen::Vector3f * __restrict__ translation_map, + const Eigen::Matrix3f * __restrict__ rotation_scan, + const Eigen::Vector3f * __restrict__ translation_scan, std::uint64_t * __restrict__ points_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_points) { + return; + } + + Eigen::Map point(input_pointcloud + idx * points_step); + + if ( + point.z() > max_height || point.z() < min_height || !isfinite(point.x()) || + !isfinite(point.y()) || !isfinite(point.z())) { + return; + } + + Eigen::Vector3f map_point = (*rotation_map) * point + (*translation_map); + Eigen::Vector3f scan_point = (*rotation_scan) * map_point + (*translation_scan); + + float angle = atan2(scan_point.y(), scan_point.x()); + int angle_bin_index = static_cast((angle - min_angle) * angle_increment_inv); + float range = sqrt(scan_point.y() * scan_point.y() + scan_point.x() * scan_point.x()); + int range_bin_index = static_cast(range * range_resolution_inv); + + if ( + angle_bin_index < 0 || angle_bin_index >= angle_bins || range_bin_index < 0 || + range_bin_index >= range_bins) { + return; + } + + std::uint64_t range_int = static_cast(range / RANGE_DISCRETIZATION_RESOLUTION); + std::uint32_t world_x_int = __float_as_uint(map_point.x()); + std::uint32_t world_y_int = __float_as_uint(map_point.y()); + + // Can not use std::uint64_t for cuda reasons... + static_assert( + sizeof(std::uint64_t) == sizeof(unsigned long long int), + "unsigned long long int is not 8 bytes"); + unsigned long long int range_and_x_int = (range_int << 32) | world_x_int; + unsigned long long int range_and_y_int = (range_int << 32) | world_y_int; + + std::uint64_t * element_address = + points_tensor + 2 * (angle_bin_index * range_bins + range_bin_index); + + atomicMin(reinterpret_cast(element_address), range_and_x_int); + atomicMin(reinterpret_cast(element_address + 1), range_and_y_int); +} + +__global__ void fillEmptySpaceKernel( + const std::uint64_t * __restrict__ points_tensor, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float scan_origin_x, + const float scan_origin_y, const float map_origin_x, const float map_origin_y, + const int num_cells_x, const int num_cells_y, std::uint8_t empty_value, + std::uint8_t * __restrict__ costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t range_and_x = + points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint32_t range_int = range_and_x >> 32; + + if (range_int == 0xFFFFFFFF) { + return; + } + + std::uint64_t range_and_y = + points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 1]; + float world_x = __uint_as_float(range_and_x & 0xFFFFFFFF); + float world_y = __uint_as_float(range_and_y & 0xFFFFFFFF); + + if (world_x < map_origin_x || world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + scan_origin_x, scan_origin_y, world_x, world_y, map_origin_x, map_origin_y, map_resolution_inv, + num_cells_x, num_cells_y, empty_value, costmap_tensor); +} + +__global__ void fillUnknownSpaceKernel( + const std::uint64_t * __restrict__ raw_points_tensor, + const std::uint64_t * __restrict__ obstacle_points_tensor, const float distance_margin, + const std::size_t angle_bins, const std::size_t range_bins, const float map_resolution_inv, + const float scan_origin_x, const float scan_origin_y, const float map_origin_x, + const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, + std::uint8_t * __restrict__ costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t obs_range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t obs_range_and_y = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 1]; + std::uint32_t obs_range_int = obs_range_and_x >> 32; + float obs_range = obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float obs_world_x = __uint_as_float(obs_range_and_x & 0xFFFFFFFF); + float obs_world_y = __uint_as_float(obs_range_and_y & 0xFFFFFFFF); + + if (obs_range_int == 0xFFFFFFFF || obs_world_x < map_origin_x || obs_world_y < map_origin_y) { + return; + } + + int next_raw_range_bin_index = range_bin_index + 1; + int next_obs_range_bin_index = range_bin_index + 1; + + for (; next_raw_range_bin_index < range_bins; next_raw_range_bin_index++) { + std::uint64_t next_raw_range_and_x = + raw_points_tensor[2 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 0]; + std::uint32_t next_raw_range_int = next_raw_range_and_x >> 32; + float next_raw_range = next_raw_range_int * RANGE_DISCRETIZATION_RESOLUTION; + + if (next_raw_range_int != 0xFFFFFFFF && abs(next_raw_range - obs_range) > distance_margin) { + break; + } + } + + for (; next_obs_range_bin_index < range_bins; next_obs_range_bin_index++) { + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + + if (next_obs_range_int != 0xFFFFFFFF) { + break; + } + } + + const std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + const std::uint64_t next_obs_range_and_y = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 1]; + const std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + const float next_obs_world_x = __uint_as_float(next_obs_range_and_x & 0xFFFFFFFF); + const float next_obs_world_y = __uint_as_float(next_obs_range_and_y & 0xFFFFFFFF); + + const std::uint64_t next_raw_range_and_x = + raw_points_tensor[2 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 0]; + const std::uint64_t next_raw_range_and_y = + raw_points_tensor[2 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 1]; + const std::uint32_t next_raw_range_int = next_raw_range_and_x >> 32; + const float next_raw_world_x = __uint_as_float(next_raw_range_and_x & 0xFFFFFFFF); + const float next_raw_world_y = __uint_as_float(next_raw_range_and_y & 0xFFFFFFFF); + + if (next_obs_range_int == 0xFFFFFFFF) { + if ( + next_raw_range_int == 0xFFFFFFFF || next_raw_world_x < map_origin_x || + next_raw_world_y < map_origin_y) { + return; + } + + // if there is no more obstacles after the current one but there are more raw points + // the space between the current obstacle and the next raw point flagged as no_information_value + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + autoware::occupancy_grid_map::utils::setCellValue( + next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, map_resolution_inv, + num_cells_x, num_cells_y, free_space_value, costmap_tensor); + return; + } + + float next_obs_range = next_obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float obs_to_obs_distance = next_obs_range - obs_range; + + if (obs_to_obs_distance <= distance_margin) { + return; + } else if (next_raw_range_int == 0xFFFFFFFF) { + // fill with no information between obstacles + + if (next_obs_world_x < map_origin_x || next_obs_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_obs_world_x, next_obs_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + return; + } + + float next_raw_range = next_raw_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float raw_to_obs_distance = abs(next_raw_range - obs_range); + + if (raw_to_obs_distance < obs_to_obs_distance) { + // fill with free space between raw and obstacle + + if (next_raw_world_x < map_origin_x || next_raw_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + autoware::occupancy_grid_map::utils::setCellValue( + next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, map_resolution_inv, + num_cells_x, num_cells_y, free_space_value, costmap_tensor); + return; + } else { + // fill with no information between obstacles + + if (next_obs_world_x < map_origin_x || next_obs_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_obs_world_x, next_obs_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + return; + } +} + +__global__ void fillObstaclesKernel( + const std::uint64_t * __restrict__ obstacle_points_tensor, const float distance_margin, + const std::size_t angle_bins, const std::size_t range_bins, const float map_resolution_inv, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * __restrict__ costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t range_and_y = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 1]; + + std::uint32_t range_int = range_and_x >> 32; + float range = range_int * RANGE_DISCRETIZATION_RESOLUTION; + float world_x = __uint_as_float(range_and_x & 0xFFFFFFFF); + float world_y = __uint_as_float(range_and_y & 0xFFFFFFFF); + + if (range < 0.0 || range_int == 0xFFFFFFFF) { + return; + } + + autoware::occupancy_grid_map::utils::setCellValue( + world_x, world_y, map_origin_x, map_origin_y, map_resolution_inv, num_cells_x, num_cells_y, + obstacle_value, costmap_tensor); + + // Look for the next obstacle point + int next_obs_range_bin_index = range_bin_index + 1; + for (; next_obs_range_bin_index < range_bins; next_obs_range_bin_index++) { + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + + if (next_obs_range_int != 0xFFFFFFFF) { + break; + } + } + + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t next_obs_range_and_y = + obstacle_points_tensor[2 * (angle_bin_index * range_bins + range_bin_index) + 1]; + + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + float next_obs_range = next_obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float next_obs_world_x = __uint_as_float(next_obs_range_and_x & 0xFFFFFFFF); + float next_obs_world_y = __uint_as_float(next_obs_range_and_y & 0xFFFFFFFF); + + if (next_obs_range_int == 0xFFFFFFFF || abs(next_obs_range - range) > distance_margin) { + return; + } + + if (next_obs_world_x < map_origin_x || next_obs_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + world_x, world_y, next_obs_world_x, next_obs_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, obstacle_value, costmap_tensor); +} + +void prepareTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream) +{ + const int threadsPerBlock = 256; + const int blocksPerGrid = (num_points + threadsPerBlock - 1) / threadsPerBlock; + + prepareTensorKernel<<>>( + input_pointcloud, num_points, points_step, angle_bins, range_bins, min_height, max_height, + min_angle, angle_increment_inv, range_resolution_inv, rotation_map, translation_map, + rotation_scan, translation_scan, points_tensor); +} + +void fillEmptySpaceLaunch( + const std::uint64_t * points_tensor, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t empty_value, std::uint8_t * costmap_tensor, cudaStream_t stream) +{ + const int threadsPerBlock = 256; + const int blocksPerGrid = (angle_bins * range_bins + threadsPerBlock - 1) / threadsPerBlock; + + fillEmptySpaceKernel<<>>( + points_tensor, angle_bins, range_bins, map_resolution_inv, scan_origin_x, scan_origin_y, + map_origin_x, map_origin_y, num_cells_x, num_cells_y, empty_value, costmap_tensor); +} + +void fillUnknownSpaceLaunch( + const std::uint64_t * raw_points_tensor, const std::uint64_t * obstacle_points_tensor, + const float distance_margin, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, std::uint8_t * costmap_tensor, + cudaStream_t stream) +{ + const int threadsPerBlock = 256; + const int blocksPerGrid = (angle_bins * range_bins + threadsPerBlock - 1) / threadsPerBlock; + + fillUnknownSpaceKernel<<>>( + raw_points_tensor, obstacle_points_tensor, distance_margin, angle_bins, range_bins, + map_resolution_inv, scan_origin_x, scan_origin_y, map_origin_x, map_origin_y, num_cells_x, + num_cells_y, free_space_value, no_information_value, costmap_tensor); +} + +void fillObstaclesLaunch( + const std::uint64_t * obstacle_points_tensor, const float distance_margin, + const std::size_t angle_bins, const std::size_t range_bins, const float map_resolution_inv, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * costmap_tensor, cudaStream_t stream) +{ + const int threadsPerBlock = 256; + const int blocksPerGrid = (angle_bins * range_bins + threadsPerBlock - 1) / threadsPerBlock; + + fillObstaclesKernel<<>>( + obstacle_points_tensor, distance_margin, angle_bins, range_bins, map_resolution_inv, + map_origin_x, map_origin_y, num_cells_x, num_cells_y, obstacle_value, costmap_tensor); +} + +} // namespace costmap_2d::map_fixed +} // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp index 4f5b8b8eeabed..5bc30872fcf70 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,23 +15,17 @@ #include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp" #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective_kernel.hpp" #include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include #include #include - -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#include -#else #include +#include #include -#endif #include @@ -42,9 +36,25 @@ namespace costmap_2d using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMapProjectiveBlindSpot::OccupancyGridMapProjectiveBlindSpot( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: OccupancyGridMapInterface(cells_size_x, cells_size_y, resolution) + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) +: OccupancyGridMapInterface(use_cuda, cells_size_x, cells_size_y, resolution) { + if (use_cuda) { + const size_t angle_bin_size = + ((max_angle_ - min_angle_) * angle_increment_inv_) + size_t(1 /*margin*/); + + const auto num_cells_x = this->getSizeInCellsX(); + const auto num_cells_y = this->getSizeInCellsY(); + const std::size_t range_bin_size = + static_cast(std::sqrt(2) * std::max(num_cells_x, num_cells_y) / 2.0) + 1; + + raw_points_tensor_ = + autoware::cuda_utils::make_unique(7 * angle_bin_size * range_bin_size); + obstacle_points_tensor_ = + autoware::cuda_utils::make_unique(7 * angle_bin_size * range_bin_size); + device_translation_scan_origin_ = autoware::cuda_utils::make_unique(); + } } /** @@ -56,7 +66,7 @@ OccupancyGridMapProjectiveBlindSpot::OccupancyGridMapProjectiveBlindSpot( * @param scan_origin manually chosen grid map origin frame */ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( - const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const CudaPointCloud2 & raw_pointcloud, const CudaPointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) { const size_t angle_bin_size = @@ -67,262 +77,96 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( const auto scan2map_pose = utils::getInversePose(scan_origin); // scan -> map transform pose - // Transform from map frame to scan frame + // Transform Matrix from map frame to scan frame mat_scan_ = utils::getTransformMatrix(scan2map_pose); - if (!offset_initialized_) { - setFieldOffsets(raw_pointcloud, obstacle_pointcloud); - } - - // Create angle bins and sort points by range - struct BinInfo3D - { - explicit BinInfo3D( - const double _range = 0.0, const double _wx = 0.0, const double _wy = 0.0, - const double _wz = 0.0, const double _projection_length = 0.0, - const double _projected_wx = 0.0, const double _projected_wy = 0.0) - : range(_range), - wx(_wx), - wy(_wy), - wz(_wz), - projection_length(_projection_length), - projected_wx(_projected_wx), - projected_wy(_projected_wy) - { - } - double range; - double wx; - double wy; - double wz; - double projection_length; - double projected_wx; - double projected_wy; - }; - - std::vector> obstacle_pointcloud_angle_bins(angle_bin_size); - std::vector> raw_pointcloud_angle_bins(angle_bin_size); - - const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height; - const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height; - - // Updated every loop inside transformPointAndCalculate() - Eigen::Vector4f pt_map; - int angle_bin_index; - double range; - - size_t global_offset = 0; - for (size_t i = 0; i < raw_pointcloud_size; i++) { - Eigen::Vector4f pt( - *reinterpret_cast(&raw_pointcloud.data[global_offset + x_offset_raw_]), - *reinterpret_cast(&raw_pointcloud.data[global_offset + y_offset_raw_]), - *reinterpret_cast(&raw_pointcloud.data[global_offset + z_offset_raw_]), 1); - global_offset += raw_pointcloud.point_step; - if (!isPointValid(pt)) { - continue; - } - transformPointAndCalculate(pt, pt_map, angle_bin_index, range); - - raw_pointcloud_angle_bins.at(angle_bin_index) - .emplace_back(range, pt_map[0], pt_map[1], pt_map[2]); - } - - for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) { - std::sort(raw_pointcloud_angle_bin.begin(), raw_pointcloud_angle_bin.end(), [](auto a, auto b) { - return a.range < b.range; - }); - } - - // Create obstacle angle bins and sort points by range - global_offset = 0; - for (size_t i = 0; i < obstacle_pointcloud_size; i++) { - Eigen::Vector4f pt( - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + x_offset_obstacle_]), - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + y_offset_obstacle_]), - *reinterpret_cast( - &obstacle_pointcloud.data[global_offset + z_offset_obstacle_]), - 1); - global_offset += obstacle_pointcloud.point_step; - if (!isPointValid(pt)) { - continue; - } - transformPointAndCalculate(pt, pt_map, angle_bin_index, range); - const double scan_z = scan_origin.position.z - robot_pose.position.z; - const double obstacle_z = (pt_map[2]) - robot_pose.position.z; - const double dz = scan_z - obstacle_z; - - // Ignore obstacle points exceed the range of the raw points - // No raw point in this angle bin, or obstacle point exceeds the range of the raw points - if ( - raw_pointcloud_angle_bins.at(angle_bin_index).empty() || - range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) { - continue; - } - - if (dz > projection_dz_threshold_) { - const double ratio = obstacle_z / dz; - const double projection_length = range * ratio; - const double projected_wx = (pt_map[0]) + ((pt_map[0]) - scan_origin.position.x) * ratio; - const double projected_wy = (pt_map[1]) + ((pt_map[1]) - scan_origin.position.y) * ratio; - obstacle_pointcloud_angle_bins.at(angle_bin_index) - .emplace_back( - range, pt_map[0], pt_map[1], pt_map[2], projection_length, projected_wx, projected_wy); - } else { - obstacle_pointcloud_angle_bins.at(angle_bin_index) - .emplace_back( - range, pt_map[0], pt_map[1], pt_map[2], std::numeric_limits::infinity(), - std::numeric_limits::infinity(), std::numeric_limits::infinity()); - } - } - - for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { - std::sort( - obstacle_pointcloud_angle_bin.begin(), obstacle_pointcloud_angle_bin.end(), - [](auto a, auto b) { return a.range < b.range; }); - } - - grid_map::Costmap2DConverter converter; - if (pub_debug_grid_) { - debug_grid_.clearAll(); - debug_grid_.setFrameId("map"); - debug_grid_.setGeometry( - grid_map::Length(size_x_ * resolution_, size_y_ * resolution_), resolution_, - grid_map::Position( - origin_x_ + size_x_ * resolution_ / 2.0, origin_y_ + size_y_ * resolution_ / 2.0)); - } - - auto is_visible_beyond_obstacle = [&](const BinInfo3D & obstacle, const BinInfo3D & raw) -> bool { - if (raw.range < obstacle.range) { - return false; - } - - if (std::isinf(obstacle.projection_length)) { - return false; - } - - // y = ax + b - const double a = -(scan_origin.position.z - robot_pose.position.z) / - (obstacle.range + obstacle.projection_length); - const double b = scan_origin.position.z; - return raw.wz > (a * raw.range + b); - }; - - // First step: Initialize cells to the final point with freespace - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); - - BinInfo3D ray_end; - if (raw_pointcloud_angle_bin.empty()) { - continue; - } else { - ray_end = raw_pointcloud_angle_bin.back(); - } - raytrace( - scan_origin.position.x, scan_origin.position.y, ray_end.wx, ray_end.wy, - cost_value::FREE_SPACE); - } - - if (pub_debug_grid_) - converter.addLayerFromCostmap2D(*this, "filled_free_to_farthest", debug_grid_); - - // Second step: Add unknown cell - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - const auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); - const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); - auto raw_distance_iter = raw_pointcloud_angle_bin.begin(); - for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - // Calculate next raw point from obstacle point - const auto & obstacle_bin = obstacle_pointcloud_angle_bin.at(dist_index); - while (raw_distance_iter != raw_pointcloud_angle_bin.end()) { - if (!is_visible_beyond_obstacle(obstacle_bin, *raw_distance_iter)) - raw_distance_iter++; - else - break; - } - - // There is no point farther than the obstacle point. - const bool no_visible_point_beyond = (raw_distance_iter == raw_pointcloud_angle_bin.end()); - if (no_visible_point_beyond) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - raytrace( - source.wx, source.wy, source.projected_wx, source.projected_wy, - cost_value::NO_INFORMATION); - break; - } - - if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - raytrace( - source.wx, source.wy, source.projected_wx, source.projected_wy, - cost_value::NO_INFORMATION); - continue; - } - - auto next_obstacle_point_distance = std::abs( - obstacle_pointcloud_angle_bin.at(dist_index + 1).range - - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= obstacle_separation_threshold_) { - continue; - } - - auto next_raw_distance = - std::abs(obstacle_pointcloud_angle_bin.at(dist_index).range - raw_distance_iter->range); - if (next_raw_distance < next_obstacle_point_distance) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = *raw_distance_iter; - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); - continue; - } else { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); - continue; - } - } - } - - if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_unknown", debug_grid_); - - // Third step: Overwrite occupied cell - for (const auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { - for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE); - - if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { - continue; - } - - auto next_obstacle_point_distance = std::abs( - obstacle_pointcloud_angle_bin.at(dist_index + 1).range - - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= obstacle_separation_threshold_) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE); - continue; - } - } - } - - if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_obstacle", debug_grid_); - if (pub_debug_grid_) { - debug_grid_map_publisher_ptr_->publish(grid_map::GridMapRosConverter::toMessage(debug_grid_)); - } + const auto map_res = this->getResolution(); + const auto num_cells_x = this->getSizeInCellsX(); + const auto num_cells_y = this->getSizeInCellsY(); + const std::size_t range_bin_size = + static_cast(std::sqrt(2) * std::max(num_cells_x, num_cells_y) / 2.0) + 1; + + cudaMemsetAsync( + raw_points_tensor_.get(), 0xFF, 6 * angle_bin_size * range_bin_size * sizeof(std::int64_t), + stream_); + cudaMemsetAsync( + obstacle_points_tensor_.get(), 0xFF, 6 * angle_bin_size * range_bin_size * sizeof(std::int64_t), + stream_); + cudaMemsetAsync( + device_costmap_.get(), cost_value::NO_INFORMATION, + num_cells_x * num_cells_y * sizeof(std::uint8_t), stream_); + + Eigen::Matrix3f rotation_map = mat_map_.block<3, 3>(0, 0); + Eigen::Vector3f translation_map = mat_map_.block<3, 1>(0, 3); + + Eigen::Matrix3f rotation_scan = mat_scan_.block<3, 3>(0, 0); + Eigen::Vector3f translation_scan = mat_scan_.block<3, 1>(0, 3); + + Eigen::Vector3f scan_origin_position( + scan_origin.position.x, scan_origin.position.y, scan_origin.position.z); + + cudaMemcpyAsync( + device_rotation_map_.get(), &rotation_map, sizeof(Eigen::Matrix3f), cudaMemcpyHostToDevice, + stream_); + cudaMemcpyAsync( + device_translation_map_.get(), &translation_map, sizeof(Eigen::Vector3f), + cudaMemcpyHostToDevice, stream_); + cudaMemcpyAsync( + device_rotation_scan_.get(), &rotation_scan, sizeof(Eigen::Matrix3f), cudaMemcpyHostToDevice, + stream_); + cudaMemcpyAsync( + device_translation_scan_.get(), &translation_scan, sizeof(Eigen::Vector3f), + cudaMemcpyHostToDevice, stream_); + cudaMemcpyAsync( + device_translation_scan_origin_.get(), &scan_origin_position, sizeof(Eigen::Vector3f), + cudaMemcpyHostToDevice, stream_); + + const std::size_t num_raw_points = raw_pointcloud.width * raw_pointcloud.height; + float range_resolution_inv = 1.0 / map_res; + + map_projective::prepareRawTensorLaunch( + reinterpret_cast(raw_pointcloud.data.get()), num_raw_points, + raw_pointcloud.point_step / sizeof(float), angle_bin_size, range_bin_size, min_height_, + max_height_, min_angle_, angle_increment_inv_, range_resolution_inv, device_rotation_map_.get(), + device_translation_map_.get(), device_rotation_scan_.get(), device_translation_scan_.get(), + raw_points_tensor_.get(), stream_); + + const std::size_t num_obstacle_points = obstacle_pointcloud.width * obstacle_pointcloud.height; + + map_projective::prepareObstacleTensorLaunch( + reinterpret_cast(obstacle_pointcloud.data.get()), num_obstacle_points, + obstacle_pointcloud.point_step / sizeof(float), angle_bin_size, range_bin_size, min_height_, + max_height_, min_angle_, angle_increment_inv_, range_resolution_inv, projection_dz_threshold_, + device_translation_scan_origin_.get(), device_rotation_map_.get(), + device_translation_map_.get(), device_rotation_scan_.get(), device_translation_scan_.get(), + obstacle_points_tensor_.get(), stream_); + + map_projective::fillEmptySpaceLaunch( + raw_points_tensor_.get(), angle_bin_size, range_bin_size, range_resolution_inv, + scan_origin.position.x, scan_origin.position.y, origin_x_, origin_y_, num_cells_x, num_cells_y, + cost_value::FREE_SPACE, device_costmap_.get(), stream_); + + map_projective::fillUnknownSpaceLaunch( + raw_points_tensor_.get(), obstacle_points_tensor_.get(), obstacle_separation_threshold_, + angle_bin_size, range_bin_size, range_resolution_inv, scan_origin.position.x, + scan_origin.position.y, scan_origin.position.z, origin_x_, origin_y_, robot_pose.position.z, + num_cells_x, num_cells_y, cost_value::FREE_SPACE, cost_value::NO_INFORMATION, + device_costmap_.get(), stream_); + + map_projective::fillObstaclesLaunch( + obstacle_points_tensor_.get(), obstacle_separation_threshold_, angle_bin_size, range_bin_size, + range_resolution_inv, origin_x_, origin_y_, num_cells_x, num_cells_y, + cost_value::LETHAL_OBSTACLE, device_costmap_.get(), stream_); + + cudaStreamSynchronize(stream_); } void OccupancyGridMapProjectiveBlindSpot::initRosParam(rclcpp::Node & node) { projection_dz_threshold_ = - node.declare_parameter("OccupancyGridMapProjectiveBlindSpot.projection_dz_threshold"); - obstacle_separation_threshold_ = node.declare_parameter( + node.declare_parameter("OccupancyGridMapProjectiveBlindSpot.projection_dz_threshold"); + obstacle_separation_threshold_ = node.declare_parameter( "OccupancyGridMapProjectiveBlindSpot.obstacle_separation_threshold"); - pub_debug_grid_ = - node.declare_parameter("OccupancyGridMapProjectiveBlindSpot.pub_debug_grid"); - debug_grid_map_publisher_ptr_ = node.create_publisher( - "~/debug/grid_map", rclcpp::QoS(1).durability_volatile()); } } // namespace costmap_2d diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective_kernel.cu b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective_kernel.cu new file mode 100644 index 0000000000000..975a08c9d41b8 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective_kernel.cu @@ -0,0 +1,534 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective_kernel.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" + +#include +#include + +#include +#include +#include + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d::map_projective +{ + +static constexpr float RANGE_DISCRETIZATION_RESOLUTION = 0.001f; + +bool __device__ isVisibleBeyondObstacle( + const std::uint64_t * obstacle_element, const std::uint64_t * raw_element, + const float & scan_origin_z, const float & robot_pose_z) +{ + std::uint64_t raw_range_and_z = raw_element[2]; + std::uint32_t raw_range_int = raw_range_and_z >> 32; + float raw_range = raw_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float raw_world_z = __uint_as_float(raw_range_and_z & 0xFFFFFFFF); + + std::uint64_t obstacle_range_and_pl = raw_element[3]; + std::uint32_t obstacle_range_int = obstacle_range_and_pl >> 32; + float obstacle_range = obstacle_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float obstacle_pl = __uint_as_float(obstacle_range_and_pl & 0xFFFFFFFF); + + if (raw_range < obstacle_range) { + return false; + } + + if (std::isinf(obstacle_pl)) { + return false; + } + + // y = ax + b + const double a = -(scan_origin_z - robot_pose_z) / (obstacle_range + obstacle_pl); + const double b = scan_origin_z; + return raw_world_z > (a * raw_range + b); +}; + +__global__ void prepareRawTensorKernel( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_points) { + return; + } + + Eigen::Map point(input_pointcloud + idx * points_step); + + if ( + point.z() > max_height || point.z() < min_height || !isfinite(point.x()) || + !isfinite(point.y()) || !isfinite(point.z())) { + return; + } + + Eigen::Vector3f map_point = (*rotation_map) * point + (*translation_map); + Eigen::Vector3f scan_point = (*rotation_scan) * map_point + (*translation_scan); + + float angle = atan2(scan_point.y(), scan_point.x()); + int angle_bin_index = static_cast((angle - min_angle) * angle_increment_inv); + float range = sqrt(scan_point.y() * scan_point.y() + scan_point.x() * scan_point.x()); + int range_bin_index = static_cast(range * range_resolution_inv); + + if ( + angle_bin_index < 0 || angle_bin_index >= angle_bins || range_bin_index < 0 || + range_bin_index >= range_bins) { + return; + } + + std::uint64_t range_int = static_cast(range / RANGE_DISCRETIZATION_RESOLUTION); + std::uint32_t world_x_int = __float_as_uint(map_point.x()); + std::uint32_t world_y_int = __float_as_uint(map_point.y()); + std::uint32_t world_z_int = __float_as_uint(map_point.z()); + std::uint32_t projected_length_int = __float_as_uint(0.f); + std::uint32_t projected_world_x_int = __float_as_uint(0.f); + std::uint32_t projected_world_y_int = __float_as_uint(0.f); + + // Can not use std::uint64_t for cuda reasons... + static_assert( + sizeof(std::uint64_t) == sizeof(unsigned long long int), + "unsigned long long int is not 8 bytes"); + unsigned long long int range_and_x_int = (range_int << 32) | world_x_int; + unsigned long long int range_and_y_int = (range_int << 32) | world_y_int; + unsigned long long int range_and_z_int = (range_int << 32) | world_z_int; + unsigned long long int range_and_pl_int = (range_int << 32) | projected_length_int; + unsigned long long int range_and_px_int = (range_int << 32) | projected_world_x_int; + unsigned long long int range_and_py_int = (range_int << 32) | projected_world_y_int; + + std::uint64_t * element_address = + points_tensor + 6 * (angle_bin_index * range_bins + range_bin_index); + + atomicMin(reinterpret_cast(element_address + 0), range_and_x_int); + atomicMin(reinterpret_cast(element_address + 1), range_and_y_int); + atomicMin(reinterpret_cast(element_address + 2), range_and_z_int); + atomicMin(reinterpret_cast(element_address + 3), range_and_pl_int); + atomicMin(reinterpret_cast(element_address + 4), range_and_px_int); + atomicMin(reinterpret_cast(element_address + 5), range_and_py_int); +} + +__global__ void prepareObstacleTensorKernel( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const float projection_dz_threshold, + const Eigen::Vector3f * translation_scan_origin, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_points) { + return; + } + + Eigen::Map point(input_pointcloud + idx * points_step); + + if ( + point.z() > max_height || point.z() < min_height || !isfinite(point.x()) || + !isfinite(point.y()) || !isfinite(point.z())) { + return; + } + + Eigen::Vector3f map_point = (*rotation_map) * point + (*translation_map); + Eigen::Vector3f scan_point = (*rotation_scan) * map_point + (*translation_scan); + + float angle = atan2(scan_point.y(), scan_point.x()); + int angle_bin_index = static_cast((angle - min_angle) * angle_increment_inv); + float range = sqrt(scan_point.y() * scan_point.y() + scan_point.x() * scan_point.x()); + int range_bin_index = static_cast(range * range_resolution_inv); + + if ( + angle_bin_index < 0 || angle_bin_index >= angle_bins || range_bin_index < 0 || + range_bin_index >= range_bins) { + return; + } + + std::uint64_t range_int = static_cast(range / RANGE_DISCRETIZATION_RESOLUTION); + std::uint32_t world_x_int = __float_as_uint(map_point.x()); + std::uint32_t world_y_int = __float_as_uint(map_point.y()); + std::uint32_t world_z_int = __float_as_uint(map_point.z()); + + const float scan_z = translation_scan_origin->z(); + -translation_map->z(); + const float obstacle_z = map_point.z() - translation_scan_origin->z(); + const float dz = scan_z - obstacle_z; + + float projected_length, projected_world_x, projected_world_y; + + if (dz > projection_dz_threshold) { + const float ratio = obstacle_z / dz; + projected_length = range * ratio; + projected_world_x = map_point.x() + (map_point.x() - translation_scan_origin->x()) * ratio; + projected_world_y = map_point.y() + (map_point.y() - translation_scan_origin->y()) * ratio; + } else { + projected_length = INFINITY; + projected_world_x = INFINITY; + projected_world_y = INFINITY; + } + + std::uint32_t projected_length_int = __float_as_uint(projected_length); + std::uint32_t projected_world_x_int = __float_as_uint(projected_world_x); + std::uint32_t projected_world_y_int = __float_as_uint(projected_world_y); + + // Can not use std::uint64_t for cuda reasons... + static_assert( + sizeof(std::uint64_t) == sizeof(unsigned long long int), + "unsigned long long int is not 8 bytes"); + unsigned long long int range_and_x_int = (range_int << 32) | world_x_int; + unsigned long long int range_and_y_int = (range_int << 32) | world_y_int; + unsigned long long int range_and_z_int = (range_int << 32) | world_z_int; + unsigned long long int range_and_pl_int = (range_int << 32) | projected_length_int; + unsigned long long int range_and_px_int = (range_int << 32) | projected_world_x_int; + unsigned long long int range_and_py_int = (range_int << 32) | projected_world_y_int; + + std::uint64_t * element_address = + points_tensor + 6 * (angle_bin_index * range_bins + range_bin_index); + + atomicMin(reinterpret_cast(element_address + 0), range_and_x_int); + atomicMin(reinterpret_cast(element_address + 1), range_and_y_int); + atomicMin(reinterpret_cast(element_address + 2), range_and_z_int); + atomicMin(reinterpret_cast(element_address + 3), range_and_pl_int); + atomicMin(reinterpret_cast(element_address + 4), range_and_px_int); + atomicMin(reinterpret_cast(element_address + 5), range_and_py_int); +} + +__global__ void fillEmptySpaceKernel( + const std::uint64_t * points_tensor, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t empty_value, std::uint8_t * costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t range_and_x = + points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint32_t range_int = range_and_x >> 32; + + if (range_int == 0xFFFFFFFF) { + return; + } + + std::uint64_t range_and_y = + points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 1]; + float world_x = __uint_as_float(range_and_x & 0xFFFFFFFF); + float world_y = __uint_as_float(range_and_y & 0xFFFFFFFF); + + if (world_x < map_origin_x || world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + scan_origin_x, scan_origin_y, world_x, world_y, map_origin_x, map_origin_y, map_resolution_inv, + num_cells_x, num_cells_y, empty_value, costmap_tensor); +} + +__global__ void fillUnknownSpaceKernel( + const std::uint64_t * raw_points_tensor, const std::uint64_t * obstacle_points_tensor, + const float obstacle_separation_threshold, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float scan_origin_x, + const float scan_origin_y, const float scan_origin_z, const float map_origin_x, + const float map_origin_y, const float robot_pose_z, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, std::uint8_t * costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t obs_range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t obs_range_and_y = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 1]; + std::uint64_t obs_range_and_px = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 4]; + std::uint64_t obs_range_and_py = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 5]; + std::uint32_t obs_range_int = obs_range_and_x >> 32; + float obs_range = obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float obs_world_x = __uint_as_float(obs_range_and_x & 0xFFFFFFFF); + float obs_world_y = __uint_as_float(obs_range_and_y & 0xFFFFFFFF); + float obs_world_px = __uint_as_float(obs_range_and_px & 0xFFFFFFFF); + float obs_world_py = __uint_as_float(obs_range_and_py & 0xFFFFFFFF); + + if (obs_range_int == 0xFFFFFFFF || obs_world_x < map_origin_x || obs_world_y < map_origin_y) { + return; + } + + int next_raw_range_bin_index = range_bin_index + 1; + int next_obs_range_bin_index = range_bin_index + 1; + + for (; next_raw_range_bin_index < range_bins; next_raw_range_bin_index++) { + std::uint64_t next_raw_range_and_x = + raw_points_tensor[6 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 0]; + std::uint32_t next_raw_range_int = next_raw_range_and_x >> 32; + + if ( + next_raw_range_int != 0xFFFFFFFF && + isVisibleBeyondObstacle( + obstacle_points_tensor + 6 * (angle_bin_index * range_bins + range_bin_index), + raw_points_tensor + 6 * (angle_bin_index * range_bins + next_raw_range_bin_index), + scan_origin_z, robot_pose_z)) { + break; + } + } + + for (; next_obs_range_bin_index < range_bins; next_obs_range_bin_index++) { + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + + if (next_obs_range_int != 0xFFFFFFFF) { + break; + } + } + + const std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + const std::uint64_t next_obs_range_and_y = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 1]; + const std::uint64_t next_obs_range_and_px = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 4]; + const std::uint64_t next_obs_range_and_py = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 5]; + const std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + const float next_obs_world_x = __uint_as_float(next_obs_range_and_x & 0xFFFFFFFF); + const float next_obs_world_y = __uint_as_float(next_obs_range_and_y & 0xFFFFFFFF); + const float next_obs_world_px = __uint_as_float(next_obs_range_and_px & 0xFFFFFFFF); + const float next_obs_world_py = __uint_as_float(next_obs_range_and_py & 0xFFFFFFFF); + + float next_obs_range = next_obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float obs_to_obs_distance = next_obs_range - obs_range; + + const std::uint64_t next_raw_range_and_x = + raw_points_tensor[6 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 0]; + const std::uint64_t next_raw_range_and_y = + raw_points_tensor[6 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 1]; + const std::uint64_t next_raw_range_and_px = + raw_points_tensor[6 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 4]; + const std::uint64_t next_raw_range_and_py = + raw_points_tensor[6 * (angle_bin_index * range_bins + next_raw_range_bin_index) + 5]; + const std::uint32_t next_raw_range_int = next_raw_range_and_x >> 32; + const float next_raw_world_x = __uint_as_float(next_raw_range_and_x & 0xFFFFFFFF); + const float next_raw_world_y = __uint_as_float(next_raw_range_and_y & 0xFFFFFFFF); + const float next_raw_world_px = __uint_as_float(next_raw_range_and_px & 0xFFFFFFFF); + const float next_raw_world_py = __uint_as_float(next_raw_range_and_py & 0xFFFFFFFF); + + if (next_raw_range_int == 0xFFFFFFFF) { + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, obs_world_px, obs_world_py, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + return; + } + + if (next_obs_range_int == 0xFFFFFFFF) { + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, obs_world_px, obs_world_py, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + return; + } + + float next_raw_range = next_raw_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float raw_to_obs_distance = abs(next_raw_range - obs_range); + + if (obs_to_obs_distance <= obstacle_separation_threshold) { + return; + } + + if (raw_to_obs_distance < obs_to_obs_distance) { + if (next_raw_world_x < map_origin_x || next_raw_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + autoware::occupancy_grid_map::utils::setCellValue( + next_raw_world_x, next_raw_world_y, map_origin_x, map_origin_y, map_resolution_inv, + num_cells_x, num_cells_y, free_space_value, costmap_tensor); + return; + } else { + // fill with no information between obstacles + + if (next_obs_world_x < map_origin_x || next_obs_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + obs_world_x, obs_world_y, next_obs_world_x, next_obs_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, no_information_value, costmap_tensor); + + return; + } +} + +__global__ void fillObstaclesKernel( + const std::uint64_t * obstacle_points_tensor, const float distance_margin, + const std::size_t angle_bins, const std::size_t range_bins, const float map_resolution_inv, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * costmap_tensor) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= angle_bins * range_bins) return; + + int angle_bin_index = idx / range_bins; + int range_bin_index = idx % range_bins; + + std::uint64_t range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t range_and_y = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 1]; + + std::uint32_t range_int = range_and_x >> 32; + float range = range_int * RANGE_DISCRETIZATION_RESOLUTION; + float world_x = __uint_as_float(range_and_x & 0xFFFFFFFF); + float world_y = __uint_as_float(range_and_y & 0xFFFFFFFF); + + if (range < 0.0 || range_int == 0xFFFFFFFF) { + return; + } + + autoware::occupancy_grid_map::utils::setCellValue( + world_x, world_y, map_origin_x, map_origin_y, map_resolution_inv, num_cells_x, num_cells_y, + obstacle_value, costmap_tensor); + + // Look for the next obstacle point + int next_obs_range_bin_index = range_bin_index + 1; + for (; next_obs_range_bin_index < range_bins; next_obs_range_bin_index++) { + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + next_obs_range_bin_index) + 0]; + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + + if (next_obs_range_int != 0xFFFFFFFF) { + break; + } + } + + std::uint64_t next_obs_range_and_x = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 0]; + std::uint64_t next_obs_range_and_y = + obstacle_points_tensor[6 * (angle_bin_index * range_bins + range_bin_index) + 1]; + + std::uint32_t next_obs_range_int = next_obs_range_and_x >> 32; + float next_obs_range = next_obs_range_int * RANGE_DISCRETIZATION_RESOLUTION; + float next_obs_world_x = __uint_as_float(next_obs_range_and_x & 0xFFFFFFFF); + float next_obs_world_y = __uint_as_float(next_obs_range_and_y & 0xFFFFFFFF); + + if (next_obs_range_int == 0xFFFFFFFF || abs(next_obs_range - range) > distance_margin) { + return; + } + + if (next_obs_world_x < map_origin_x || next_obs_world_y < map_origin_y) { + return; + } + + autoware::occupancy_grid_map::utils::raytrace( + world_x, world_y, next_obs_world_x, next_obs_world_y, map_origin_x, map_origin_y, + map_resolution_inv, num_cells_x, num_cells_y, obstacle_value, costmap_tensor); +} + +void prepareRawTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (num_points + threads_per_block - 1) / threads_per_block; + + prepareRawTensorKernel<<>>( + input_pointcloud, num_points, points_step, angle_bins, range_bins, min_height, max_height, + min_angle, angle_increment_inv, range_resolution_inv, rotation_map, translation_map, + rotation_scan, translation_scan, points_tensor); +} + +void prepareObstacleTensorLaunch( + const float * input_pointcloud, const std::size_t num_points, const std::size_t points_step, + const std::size_t angle_bins, const std::size_t range_bins, const float min_height, + const float max_height, const float min_angle, const float angle_increment_inv, + const float range_resolution_inv, const float projection_dz_threshold, + const Eigen::Vector3f * translation_scan_origin, const Eigen::Matrix3f * rotation_map, + const Eigen::Vector3f * translation_map, const Eigen::Matrix3f * rotation_scan, + const Eigen::Vector3f * translation_scan, std::uint64_t * points_tensor, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (num_points + threads_per_block - 1) / threads_per_block; + + prepareObstacleTensorKernel<<>>( + input_pointcloud, num_points, points_step, angle_bins, range_bins, min_height, max_height, + min_angle, angle_increment_inv, range_resolution_inv, projection_dz_threshold, + translation_scan_origin, rotation_map, translation_map, rotation_scan, translation_scan, + points_tensor); +} + +void fillEmptySpaceLaunch( + const std::uint64_t * points_tensor, const std::size_t angle_bins, const std::size_t range_bins, + const float map_resolution_inv, const float scan_origin_x, const float scan_origin_y, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t empty_value, std::uint8_t * costmap_tensor, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (angle_bins * range_bins + threads_per_block - 1) / threads_per_block; + + fillEmptySpaceKernel<<>>( + points_tensor, angle_bins, range_bins, map_resolution_inv, scan_origin_x, scan_origin_y, + map_origin_x, map_origin_y, num_cells_x, num_cells_y, empty_value, costmap_tensor); +} + +void fillUnknownSpaceLaunch( + const std::uint64_t * raw_points_tensor, const std::uint64_t * obstacle_points_tensor, + const float obstacle_separation_threshold, const std::size_t angle_bins, + const std::size_t range_bins, const float map_resolution_inv, const float scan_origin_x, + const float scan_origin_y, const float scan_origin_z, const float map_origin_x, + const float map_origin_y, const float robot_pose_z, const int num_cells_x, const int num_cells_y, + std::uint8_t free_space_value, std::uint8_t no_information_value, std::uint8_t * costmap_tensor, + cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (angle_bins * range_bins + threads_per_block - 1) / threads_per_block; + + fillUnknownSpaceKernel<<>>( + raw_points_tensor, obstacle_points_tensor, obstacle_separation_threshold, angle_bins, + range_bins, map_resolution_inv, scan_origin_x, scan_origin_y, scan_origin_z, map_origin_x, + map_origin_y, robot_pose_z, num_cells_x, num_cells_y, free_space_value, no_information_value, + costmap_tensor); +} + +void fillObstaclesLaunch( + const std::uint64_t * obstacle_points_tensor, const float distance_margin, + const std::size_t angle_bins, const std::size_t range_bins, const float map_resolution_inv, + const float map_origin_x, const float map_origin_y, const int num_cells_x, const int num_cells_y, + std::uint8_t obstacle_value, std::uint8_t * costmap_tensor, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (angle_bins * range_bins + threads_per_block - 1) / threads_per_block; + + fillObstaclesKernel<<>>( + obstacle_points_tensor, distance_margin, angle_bins, range_bins, map_resolution_inv, + map_origin_x, map_origin_y, num_cells_x, num_cells_y, obstacle_value, costmap_tensor); +} + +} // namespace costmap_2d::map_projective +} // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp index 771eaabf4f6f9..cdcb0677b7243 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,6 +15,7 @@ #include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp" #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater_kernel.hpp" #include #include @@ -25,8 +26,9 @@ namespace costmap_2d { OccupancyGridMapBBFUpdater::OccupancyGridMapBBFUpdater( - const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: OccupancyGridMapUpdaterInterface(cells_size_x, cells_size_y, resolution) + const bool use_cuda, const unsigned int cells_size_x, const unsigned int cells_size_y, + const float resolution) +: OccupancyGridMapUpdaterInterface(use_cuda, cells_size_x, cells_size_y, resolution) { } @@ -41,6 +43,22 @@ void OccupancyGridMapBBFUpdater::initRosParam(rclcpp::Node & node) probability_matrix_(Index::OCCUPIED, Index::FREE) = node.declare_parameter("probability_matrix.free_to_occupied"); v_ratio_ = node.declare_parameter("v_ratio"); + + device_probability_matrix_ = + autoware::cuda_utils::make_unique(Index::NUM_STATES * Index::NUM_STATES); + + std::vector probability_matrix_vector; + probability_matrix_vector.resize(Index::NUM_STATES * Index::NUM_STATES); + + for (size_t j = 0; j < Index::NUM_STATES; j++) { + for (size_t i = 0; i < Index::NUM_STATES; i++) { + probability_matrix_vector[j * Index::NUM_STATES + i] = probability_matrix_(j, i); + } + } + + cudaMemcpy( + device_probability_matrix_.get(), probability_matrix_vector.data(), + sizeof(float) * Index::NUM_STATES * Index::NUM_STATES, cudaMemcpyHostToDevice); } inline unsigned char OccupancyGridMapBBFUpdater::applyBBF( @@ -69,16 +87,37 @@ inline unsigned char OccupancyGridMapBBFUpdater::applyBBF( static_cast(254)); } -bool OccupancyGridMapBBFUpdater::update(const Costmap2D & single_frame_occupancy_grid_map) +bool OccupancyGridMapBBFUpdater::update( + const OccupancyGridMapInterface & single_frame_occupancy_grid_map) { updateOrigin( single_frame_occupancy_grid_map.getOriginX(), single_frame_occupancy_grid_map.getOriginY()); - for (unsigned int x = 0; x < getSizeInCellsX(); x++) { - for (unsigned int y = 0; y < getSizeInCellsY(); y++) { - unsigned int index = getIndex(x, y); - costmap_[index] = applyBBF(single_frame_occupancy_grid_map.getCost(x, y), costmap_[index]); + + if (use_cuda_ != single_frame_occupancy_grid_map.isCudaEnabled()) { + throw std::runtime_error("The CUDA setting of the updater and the map do not match."); + } + + if (use_cuda_) { + applyBBFLaunch( + single_frame_occupancy_grid_map.getDeviceCostmap().get(), device_probability_matrix_.get(), + Index::NUM_STATES, Index::FREE, Index::OCCUPIED, cost_value::FREE_SPACE, + cost_value::LETHAL_OBSTACLE, cost_value::NO_INFORMATION, v_ratio_, + getSizeInCellsX() * getSizeInCellsY(), device_costmap_.get(), stream_); + + cudaMemcpy( + costmap_, device_costmap_.get(), getSizeInCellsX() * getSizeInCellsY() * sizeof(std::uint8_t), + cudaMemcpyDeviceToHost); + + cudaStreamSynchronize(stream_); + } else { + for (unsigned int x = 0; x < getSizeInCellsX(); x++) { + for (unsigned int y = 0; y < getSizeInCellsY(); y++) { + unsigned int index = getIndex(x, y); + costmap_[index] = applyBBF(single_frame_occupancy_grid_map.getCost(x, y), costmap_[index]); + } } } + return true; } diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater_kernel.cu b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater_kernel.cu new file mode 100644 index 0000000000000..f4d4886eb0182 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater_kernel.cu @@ -0,0 +1,81 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ +#define AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ + +#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater_kernel.hpp" + +#include + +__global__ void applyBBFKernel( + const std::uint8_t * z_costmap, const float * probability_matrix, const int num_states, + const int free_index, const int occupied_index, const std::uint8_t free_space_value, + const std::uint8_t lethal_obstacle_value, const std::uint8_t no_information_value, + const double v_ratio_, const int num_elements, std::uint8_t * o_costmap) +{ + const int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_elements) { + return; + } + + const std::uint8_t z = z_costmap[idx]; + const std::uint8_t o = o_costmap[idx]; + + constexpr float cost2p = 1.f / 255.f; + const float po = o * cost2p; + float pz{}; + float not_pz{}; + float po_hat{}; + if (z == lethal_obstacle_value) { + pz = probability_matrix[occupied_index * num_states + occupied_index]; + not_pz = probability_matrix[free_index * num_states + occupied_index]; + po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz))); + } else if (z == free_space_value) { + pz = 1.f - probability_matrix[free_index * num_states + free_index]; + not_pz = 1.f - probability_matrix[occupied_index * num_states + free_index]; + po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz))); + } else if (z == no_information_value) { + const float inv_v_ratio = 1.f / v_ratio_; + po_hat = ((po + (0.5f * inv_v_ratio)) / ((1.f * inv_v_ratio) + 1.f)); + } + + o_costmap[idx] = std::min( + std::max( + static_cast(std::lround(po_hat * 255.f)), static_cast(1)), + static_cast(254)); +} + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d +{ + +void applyBBFLaunch( + const std::uint8_t * z_costmap, const float * probability_matrix, const int num_states, + const int free_index, const int occupied_index, const std::uint8_t free_space_value, + const std::uint8_t lethal_obstacle_value, const std::uint8_t no_information_value, + const double v_ratio_, const int num_elements, std::uint8_t * o_costmap, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (num_elements + threads_per_block - 1) / threads_per_block; + applyBBFKernel<<>>( + z_costmap, probability_matrix, num_states, free_index, occupied_index, free_space_value, + lethal_obstacle_value, no_information_value, v_ratio_, num_elements, o_costmap); +} + +} // namespace costmap_2d +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__BINARY_BAYES_FILTER_UPDATER_KERNEL_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp index 9f3c3c7e40eaf..b1a8ff937c495 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,6 +15,7 @@ #include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp" #include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater_kernel.hpp" #include @@ -39,7 +40,7 @@ inline unsigned char OccupancyGridMapLOBFUpdater::applyLOBF( constexpr unsigned char unknown = cost_value::NO_INFORMATION; constexpr unsigned char unknown_margin = 1; - /* Tau and ST decides how fast the observation decay to the unknown status*/ + // Tau and ST decides how fast the observation decay to the unknown status constexpr double tau = 0.75; constexpr double sample_time = 0.1; @@ -58,16 +59,35 @@ inline unsigned char OccupancyGridMapLOBFUpdater::applyLOBF( } } -bool OccupancyGridMapLOBFUpdater::update(const Costmap2D & single_frame_occupancy_grid_map) +bool OccupancyGridMapLOBFUpdater::update( + const OccupancyGridMapInterface & single_frame_occupancy_grid_map) { updateOrigin( single_frame_occupancy_grid_map.getOriginX(), single_frame_occupancy_grid_map.getOriginY()); - for (unsigned int x = 0; x < getSizeInCellsX(); x++) { - for (unsigned int y = 0; y < getSizeInCellsY(); y++) { - unsigned int index = getIndex(x, y); - costmap_[index] = applyLOBF(single_frame_occupancy_grid_map.getCost(x, y), costmap_[index]); + + if (use_cuda_ != single_frame_occupancy_grid_map.isCudaEnabled()) { + throw std::runtime_error("The CUDA setting of the updater and the map do not match."); + } + + if (use_cuda_) { + applyLOBFLaunch( + single_frame_occupancy_grid_map.getDeviceCostmap().get(), cost_value::NO_INFORMATION, + getSizeInCellsX() * getSizeInCellsY(), device_costmap_.get(), stream_); + + cudaMemcpy( + costmap_, device_costmap_.get(), getSizeInCellsX() * getSizeInCellsY() * sizeof(std::uint8_t), + cudaMemcpyDeviceToHost); + + cudaStreamSynchronize(stream_); + } else { + for (unsigned int x = 0; x < getSizeInCellsX(); x++) { + for (unsigned int y = 0; y < getSizeInCellsY(); y++) { + unsigned int index = getIndex(x, y); + costmap_[index] = applyLOBF(single_frame_occupancy_grid_map.getCost(x, y), costmap_[index]); + } } } + return true; } diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu new file mode 100644 index 0000000000000..16705adac31b9 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu @@ -0,0 +1,95 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__log_odds_bayes_filter_updater_kernel_HPP_ +#define AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__log_odds_bayes_filter_updater_kernel_HPP_ + +#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater_kernel.hpp" + +#include + +#define EPSILON_PROB 0.03 + +namespace autoware::occupancy_grid_map +{ +namespace costmap_2d +{ + +__host__ __device__ __forceinline__ double convertCharToProbability(const std::uint8_t value) +{ + return static_cast(value) / 255.0; +} + +__host__ __device__ __forceinline__ std::uint8_t convertProbabilityToChar(const double value) +{ + return static_cast(std::max(0.0, std::min(1.0, value)) * 255.0); + ; +} + +__host__ __device__ __forceinline__ double logOddsFusion(const double p1, const double p2) +{ + double log_odds = 0.0; + + const double p1_norm = std::max(EPSILON_PROB, std::min(1.0 - EPSILON_PROB, p1)); + log_odds += std::log(p1_norm / (1.0 - p1_norm)); + + const double p2_norm = std::max(EPSILON_PROB, std::min(1.0 - EPSILON_PROB, p2)); + log_odds += std::log(p2_norm / (1.0 - p2_norm)); + + return 1.0 / (1.0 + std::exp(-log_odds)); +} + +// cspell: ignore LOBF +__global__ void applyLOBFKernel( + const std::uint8_t * z_costmap, const std::uint8_t unknown_value, const int num_elements, + std::uint8_t * o_costmap) +{ + const int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_elements) { + return; + } + + const std::uint8_t z = z_costmap[idx]; + const std::uint8_t o = o_costmap[idx]; + + const std::uint8_t unknown_margin = 1; + const double tau = 0.75; + const double sample_time = 0.1; + + if (z >= unknown_value - unknown_margin && z <= unknown_value + unknown_margin) { + const int diff = static_cast(o) - static_cast(unknown_value); + const double decay = std::exp(-sample_time / tau); + const double fused = static_cast(unknown_value) + static_cast(diff) * decay; + o_costmap[idx] = static_cast(fused); + } else { + const unsigned char fused = convertProbabilityToChar( + logOddsFusion(convertCharToProbability(z), convertCharToProbability(o))); + o_costmap[idx] = static_cast(fused); + } +} + +void applyLOBFLaunch( + const std::uint8_t * z_costmap, const std::uint8_t no_information_value, const int num_elements, + std::uint8_t * o_costmap, cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = (num_elements + threads_per_block - 1) / threads_per_block; + applyLOBFKernel<<>>( + z_costmap, no_information_value, num_elements, o_costmap); +} + +} // namespace costmap_2d +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__probabilistic_occupancy_grid_map__UPDATER__log_odds_bayes_filter_updater_kernel_HPP_ diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp index 9d190664b8858..6ed51f9fccebc 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -47,17 +47,29 @@ bool transformPointcloud( return true; } -// used in pointcloud based occupancy grid map -void transformPointcloud( - const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, - sensor_msgs::msg::PointCloud2 & output) +bool transformPointcloudAsync( + CudaPointCloud2 & input, const tf2_ros::Buffer & tf2, const std::string & target_frame) { - const auto transform = autoware::universe_utils::pose2transform(pose); - Eigen::Matrix4f tf_matrix = tf2::transformToEigen(transform).matrix().cast(); - - pcl_ros::transformPointCloud(tf_matrix, input, output); - output.header.stamp = input.header.stamp; - output.header.frame_id = ""; + geometry_msgs::msg::TransformStamped tf_stamped; + // lookup transform + try { + tf_stamped = tf2.lookupTransform( + target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5)); + } catch (tf2::TransformException & ex) { + RCLCPP_WARN( + rclcpp::get_logger("probabilistic_occupancy_grid_map"), "Failed to lookup transform: %s", + ex.what()); + return false; + } + // transform pointcloud + Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast(); + Eigen::Matrix3f rotation = tf_matrix.block<3, 3>(0, 0); + Eigen::Vector3f translation = tf_matrix.block<3, 1>(0, 3); + transformPointCloudLaunch( + input.data.get(), input.width * input.height, input.point_step, rotation, translation, + input.stream); + input.header.frame_id = target_frame; + return true; } Eigen::Matrix4f getTransformMatrix(const geometry_msgs::msg::Pose & pose) @@ -145,51 +157,5 @@ geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose) return inv_pose; } -/** - * @brief extract Common Pointcloud between obstacle pc and raw pc - * @param obstacle_pc - * @param raw_pc - * @param output_obstacle_pc - */ -bool extractCommonPointCloud( - const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc, - sensor_msgs::msg::PointCloud2 & output_obstacle_pc) -{ - // Convert to vector of 3d points - std::vector v_obstacle_pc, v_raw_pc, v_output_obstacle_pc; - for (sensor_msgs::PointCloud2ConstIterator iter_x(obstacle_pc, "x"), - iter_y(obstacle_pc, "y"), iter_z(obstacle_pc, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { - v_obstacle_pc.push_back(MyPoint3d(*iter_x, *iter_y, *iter_z)); - } - for (sensor_msgs::PointCloud2ConstIterator iter_x(raw_pc, "x"), iter_y(raw_pc, "y"), - iter_z(raw_pc, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { - v_raw_pc.push_back(MyPoint3d(*iter_x, *iter_y, *iter_z)); - } - - // sort pointclouds for searching cross points: O(nlogn) - std::sort(v_obstacle_pc.begin(), v_obstacle_pc.end(), [](auto a, auto b) { return a < b; }); - std::sort(v_raw_pc.begin(), v_raw_pc.end(), [](auto a, auto b) { return a < b; }); - - // calc intersection points of two pointclouds: O(n) - std::set_intersection( - v_obstacle_pc.begin(), v_obstacle_pc.end(), v_raw_pc.begin(), v_raw_pc.end(), - std::back_inserter(v_output_obstacle_pc)); - if (v_output_obstacle_pc.size() == 0) { - return false; - } - - // Convert to ros msg - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - for (auto p : v_output_obstacle_pc) { - pcl_output->push_back(pcl::PointXYZ(p.x, p.y, p.z)); - } - pcl::toROSMsg(*pcl_output, output_obstacle_pc); - output_obstacle_pc.header = obstacle_pc.header; - - return true; -} - } // namespace utils } // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils_kernel.cu b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils_kernel.cu new file mode 100644 index 0000000000000..696466fa89fbe --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils_kernel.cu @@ -0,0 +1,300 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ + +#include "autoware/probabilistic_occupancy_grid_map/utils/utils_kernel.hpp" + +namespace autoware::occupancy_grid_map +{ +namespace utils +{ + +inline __device__ bool worldToMap( + float wx, float wy, unsigned int & mx, unsigned int & my, float origin_x, float origin_y, + float resolution_inv, int size_x, int size_y) +{ + if (wx < origin_x || wy < origin_y) { + return false; + } + + mx = static_cast(std::floor((wx - origin_x) * resolution_inv)); + my = static_cast(std::floor((wy - origin_y) * resolution_inv)); + + if (mx < size_x && my < size_y) { + return true; + } + + return false; +} + +__device__ void setCellValue( + float wx, float wy, float origin_x, float origin_y, float resolution_inv, int size_x, int size_y, + std::uint8_t value, std::uint8_t * costmap_tensor) +{ + unsigned int mx, my; + if (!worldToMap(wx, wy, mx, my, origin_x, origin_y, resolution_inv, size_x, size_y)) { + return; + } + + costmap_tensor[my * size_x + mx] = value; +} + +inline __device__ void bresenham2D( + unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, + unsigned int offset, unsigned int max_length, std::uint8_t cost, std::uint8_t * costmap_tensor) +{ + unsigned int end = min(max_length, abs_da); + for (unsigned int i = 0; i < end; ++i) { + costmap_tensor[offset] = cost; + offset += offset_a; + error_b += abs_db; + if ((unsigned int)error_b >= abs_da) { + offset += offset_b; + error_b -= abs_da; + } + } + costmap_tensor[offset] = cost; +} + +/** + * @brief Raytrace a line and apply some action at each step + * @param at The action to take... a functor + * @param x0 The starting x coordinate + * @param y0 The starting y coordinate + * @param x1 The ending x coordinate + * @param y1 The ending y coordinate + * @param max_length The maximum desired length of the segment... + * allows you to not go all the way to the endpoint + * @param min_length The minimum desired length of the segment + */ +inline __device__ void raytraceLine( + unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length, + unsigned int min_length, unsigned int size_x, std::uint8_t cost, std::uint8_t * costmap_tensor) +{ + int dx_full = x1 - x0; + int dy_full = y1 - y0; + + // we need to chose how much to scale our dominant dimension, + // based on the maximum length of the line + float dist = sqrt((float)(dx_full * dx_full + dy_full * dy_full)); // hypot(dx_full, dy_full); + if (dist < min_length) { + return; + } + + unsigned int min_x0, min_y0; + if (dist > 0.0) { + // Adjust starting point and offset to start from min_length distance + min_x0 = (unsigned int)(x0 + dx_full / dist * min_length); + min_y0 = (unsigned int)(y0 + dy_full / dist * min_length); + } else { + // dist can be 0 if [x0, y0]==[x1, y1]. + // In this case only this cell should be processed. + min_x0 = x0; + min_y0 = y0; + } + unsigned int offset = min_y0 * size_x + min_x0; + + int dx = x1 - min_x0; + int dy = y1 - min_y0; + + unsigned int abs_dx = abs(dx); + unsigned int abs_dy = abs(dy); + + int offset_dx = dx > 0 ? 1 : -1; // sign(dx); + int offset_dy = dy > 0 ? size_x : -size_x; // sign(dy) * size_x; + + constexpr float epsilon = 1e-6; + float scale = (dist < epsilon) ? 1.0 : min(1.f, max_length / dist); + // if x is dominant + if (abs_dx >= abs_dy) { + int error_y = abs_dx / 2; + + bresenham2D( + abs_dx, abs_dy, error_y, offset_dx, offset_dy, offset, (unsigned int)(scale * abs_dx), cost, + costmap_tensor); + return; + } + + // otherwise y is dominant + int error_x = abs_dy / 2; + + bresenham2D( + abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy), cost, + costmap_tensor); +} + +void __device__ raytrace( + const float source_x, const float source_y, const float target_x, const float target_y, + const float origin_x, float origin_y, const float resolution_inv, const int size_x, + const int size_y, const std::uint8_t cost, std::uint8_t * costmap_tensor) +{ + unsigned int x0{}; + unsigned int y0{}; + const float ox{source_x}; + const float oy{source_y}; + + if (!worldToMap(ox, oy, x0, y0, origin_x, origin_y, resolution_inv, size_x, size_y)) { + return; + } + + // we can pre-compute the endpoints of the map outside of the inner loop... we'll need these later + const float resolution = 1.0 / resolution_inv; + const float map_end_x = origin_x + size_x * resolution; + const float map_end_y = origin_y + size_y * resolution; + + float wx = target_x; + float wy = target_y; + + // now we also need to make sure that the endpoint we're ray-tracing + // to isn't off the costmap and scale if necessary + const float a = wx - ox; + const float b = wy - oy; + + // the minimum value to raytrace from is the origin + if (wx < origin_x) { + const float t = (origin_x - ox) / a; + wx = origin_x; + wy = oy + b * t; + } + if (wy < origin_y) { + const float t = (origin_y - oy) / b; + wx = ox + a * t; + wy = origin_y; + } + + // the maximum value to raytrace to is the end of the map + if (wx > map_end_x) { + const float t = (map_end_x - ox) / a; + wx = map_end_x - .001; + wy = oy + b * t; + } + if (wy > map_end_y) { + const float t = (map_end_y - oy) / b; + wx = ox + a * t; + wy = map_end_y - .001; + } + + // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint + unsigned int x1{}; + unsigned int y1{}; + + // check for legality just in case + if (!worldToMap(wx, wy, x1, y1, origin_x, origin_y, resolution_inv, size_x, size_y)) { + return; + } + + constexpr unsigned int cell_raytrace_range = 10000; // large number to ignore range threshold + raytraceLine(x0, y0, x1, y1, cell_raytrace_range, 0, size_x, cost, costmap_tensor); +} + +__global__ void transformPointCloudKernel( + std::uint8_t * points, std::size_t num_points, std::size_t points_step, + const Eigen::Matrix3f & rotation, const Eigen::Vector3f & translation) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= num_points) { + return; + } + + Eigen::Map point_map(reinterpret_cast(points + idx * points_step)); + point_map = rotation * point_map + translation; +} + +__global__ void copyMapRegionKernel( + const std::uint8_t * source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, + unsigned int sm_size_x, unsigned int sm_size_y, std::uint8_t * dest_map, + unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, + unsigned int dm_size_y, unsigned int region_size_x, unsigned int region_size_y) +{ + const int idx = blockIdx.x * blockDim.x + threadIdx.x; + if (idx >= region_size_x * region_size_y) return; + + const int region_y = idx / region_size_x; + const int region_x = idx % region_size_x; + + const int sm_index = + sm_lower_left_y * sm_size_x + sm_lower_left_x + region_y * sm_size_x + region_x; + const int dm_index = + dm_lower_left_y * dm_size_x + dm_lower_left_x + region_y * dm_size_x + region_x; + + if (sm_index < sm_size_x * sm_size_y && dm_index < dm_size_x * dm_size_y) { + dest_map[dm_index] = source_map[sm_index]; + } +} + +void transformPointCloudLaunch( + std::uint8_t * points, std::size_t num_points, std::size_t points_step, + const Eigen::Matrix3f & rotation, const Eigen::Vector3f & translation, cudaStream_t stream) +{ + // Launch kernel + int threads_per_block = 256; + int num_blocks = (num_points + threads_per_block - 1) / threads_per_block; + transformPointCloudKernel<<>>( + points, num_points, points_step, rotation, translation); +} + +void copyMapRegionLaunch( + const std::uint8_t * source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, + unsigned int sm_size_x, unsigned int sm_size_y, std::uint8_t * dest_map, + unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, + unsigned int dm_size_y, unsigned int region_size_x, unsigned int region_size_y, + cudaStream_t stream) +{ + const int threads_per_block = 256; + const int num_blocks = + (region_size_x * region_size_y + threads_per_block - 1) / threads_per_block; + + copyMapRegionKernel<<>>( + source_map, sm_lower_left_x, sm_lower_left_y, sm_size_x, sm_size_y, dest_map, dm_lower_left_x, + dm_lower_left_y, dm_size_x, dm_size_y, region_size_x, region_size_y); +} + +} // namespace utils +} // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index ece7ef0dec663..b0e6463519fd9 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,11 +2,12 @@ autoware_probabilistic_occupancy_grid_map - 0.40.0 + 0.41.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri Mamoru Sobue + Kenzo Lobos-Tsunekawa Apache License 2.0 Yukihiro Saito @@ -15,6 +16,7 @@ autoware_cmake eigen3_cmake_module + autoware_cuda_utils autoware_universe_utils grid_map_costmap_2d grid_map_msgs diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp index 7cde04ca9614b..cf1d828493035 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -115,8 +115,8 @@ GridMapFusionNode::GridMapFusionNode(const rclcpp::NodeOptions & node_options) // updater occupancy_grid_map_updater_ptr_ = std::make_shared( - fusion_map_length_x_ / fusion_map_resolution_, fusion_map_length_y_ / fusion_map_resolution_, - fusion_map_resolution_); + false, fusion_map_length_x_ / fusion_map_resolution_, + fusion_map_length_y_ / fusion_map_resolution_, fusion_map_resolution_); // Set timer const auto period_ns = std::chrono::duration_cast( @@ -309,7 +309,7 @@ void GridMapFusionNode::publish() // fusion map // single frame gridmap fusion - auto fused_map = SingleFrameOccupancyFusion(subscribed_maps, latest_stamp, weights); + auto & fused_map = SingleFrameOccupancyFusion(subscribed_maps, latest_stamp, weights); // multi frame gridmap fusion occupancy_grid_map_updater_ptr_->update(fused_map); @@ -341,7 +341,7 @@ void GridMapFusionNode::publish() } } -OccupancyGridMapFixedBlindSpot GridMapFusionNode::SingleFrameOccupancyFusion( +const OccupancyGridMapFixedBlindSpot & GridMapFusionNode::SingleFrameOccupancyFusion( std::vector & occupancy_grid_maps, const builtin_interfaces::msg::Time latest_stamp, const std::vector & weights) { @@ -367,22 +367,30 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::SingleFrameOccupancyFusion( if (time_keeper_) inner_st_ptr = std::make_unique("create_fused_map", *time_keeper_); + if ( + !fused_map_ || fused_map_->getSizeInCellsX() != occupancy_grid_maps[0].getSizeInCellsX() || + fused_map_->getSizeInCellsY() != occupancy_grid_maps[0].getSizeInCellsY() || + fused_map_->getResolution() != occupancy_grid_maps[0].getResolution()) { + fused_map_ = std::make_unique( + false, occupancy_grid_maps[0].getSizeInCellsX(), occupancy_grid_maps[0].getSizeInCellsY(), + occupancy_grid_maps[0].getResolution()); + } + // init fused map with calculated origin - OccupancyGridMapFixedBlindSpot fused_map( - occupancy_grid_maps[0].getSizeInCellsX(), occupancy_grid_maps[0].getSizeInCellsY(), - occupancy_grid_maps[0].getResolution()); - fused_map.updateOrigin( - gridmap_origin.position.x - fused_map.getSizeInMetersX() / 2, - gridmap_origin.position.y - fused_map.getSizeInMetersY() / 2); + fused_map_->resetMaps(); + + fused_map_->updateOrigin( + gridmap_origin.position.x - fused_map_->getSizeInMetersX() / 2, + gridmap_origin.position.y - fused_map_->getSizeInMetersY() / 2); // fix origin of each map for (auto & map : occupancy_grid_maps) { - map.updateOrigin(fused_map.getOriginX(), fused_map.getOriginY()); + map.updateOrigin(fused_map_->getOriginX(), fused_map_->getOriginY()); } // assume map is same size and resolutions - for (unsigned int x = 0; x < fused_map.getSizeInCellsX(); x++) { - for (unsigned int y = 0; y < fused_map.getSizeInCellsY(); y++) { + for (unsigned int x = 0; x < fused_map_->getSizeInCellsX(); x++) { + for (unsigned int y = 0; y < fused_map_->getSizeInCellsY(); y++) { // get cost of each map std::vector costs; for (auto & map : occupancy_grid_maps) { @@ -393,11 +401,11 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::SingleFrameOccupancyFusion( auto fused_cost = fusion_policy::singleFrameOccupancyFusion(costs, fusion_method_, weights); // set max cost to fused map - fused_map.setCost(x, y, fused_cost); + fused_map_->setCost(x, y, fused_cost); } } - return fused_map; + return *fused_map_; } // scope for time keeper ends } @@ -408,7 +416,7 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::OccupancyGridMsgToGridMap( if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); OccupancyGridMapFixedBlindSpot gridmap( - occupancy_grid_map.info.width, occupancy_grid_map.info.height, + false, occupancy_grid_map.info.width, occupancy_grid_map.info.height, occupancy_grid_map.info.resolution); gridmap.updateOrigin( occupancy_grid_map.info.origin.position.x, occupancy_grid_map.info.origin.position.y); diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp index 0f9475e476921..0d894d99a68a1 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -69,7 +69,7 @@ class GridMapFusionNode : public rclcpp::Node OccupancyGridMapFixedBlindSpot OccupancyGridMsgToGridMap( const nav_msgs::msg::OccupancyGrid & occupancy_grid_map); - OccupancyGridMapFixedBlindSpot SingleFrameOccupancyFusion( + const OccupancyGridMapFixedBlindSpot & SingleFrameOccupancyFusion( std::vector & occupancy_grid_maps, const builtin_interfaces::msg::Time latest_stamp, const std::vector & weights); @@ -103,6 +103,7 @@ class GridMapFusionNode : public rclcpp::Node // cache for fusion std::mutex mutex_; + std::unique_ptr fused_map_; std::shared_ptr occupancy_grid_map_updater_ptr_; // contains fused grid map std::map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp index cb1b22a519e2d..4a8c9626de013 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp @@ -95,14 +95,14 @@ LaserscanBasedOccupancyGridMapNode::LaserscanBasedOccupancyGridMapNode( const std::string updater_type = this->declare_parameter("updater_type"); if (updater_type == "binary_bayes_filter") { occupancy_grid_map_updater_ptr_ = std::make_shared( - map_length / map_resolution, map_width / map_resolution, map_resolution); + false, map_length / map_resolution, map_width / map_resolution, map_resolution); } else { RCLCPP_WARN( get_logger(), "specified occupancy grid map updater type [%s] is not found, use binary_bayes_filter", updater_type.c_str()); occupancy_grid_map_updater_ptr_ = std::make_shared( - map_length / map_resolution, map_width / map_resolution, map_resolution); + false, map_length / map_resolution, map_width / map_resolution, map_resolution); } occupancy_grid_map_updater_ptr_->initRosParam(*this); diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index ff836a1ddf760..ba24e29284825 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -85,26 +85,27 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( const std::string updater_type = this->declare_parameter("updater_type"); if (updater_type == "binary_bayes_filter") { occupancy_grid_map_updater_ptr_ = std::make_unique( - map_length / map_resolution, map_length / map_resolution, map_resolution); + true, map_length / map_resolution, map_length / map_resolution, map_resolution); } else { RCLCPP_WARN( get_logger(), "specified occupancy grid map updater type [%s] is not found, use binary_bayes_filter", updater_type.c_str()); occupancy_grid_map_updater_ptr_ = std::make_unique( - map_length / map_resolution, map_length / map_resolution, map_resolution); + true, map_length / map_resolution, map_length / map_resolution, map_resolution); } occupancy_grid_map_updater_ptr_->initRosParam(*this); const std::string grid_map_type = this->declare_parameter("grid_map_type"); + if (grid_map_type == "OccupancyGridMapProjectiveBlindSpot") { occupancy_grid_map_ptr_ = std::make_unique( - occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + true, occupancy_grid_map_updater_ptr_->getSizeInCellsX(), occupancy_grid_map_updater_ptr_->getSizeInCellsY(), occupancy_grid_map_updater_ptr_->getResolution()); } else if (grid_map_type == "OccupancyGridMapFixedBlindSpot") { occupancy_grid_map_ptr_ = std::make_unique( - occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + true, occupancy_grid_map_updater_ptr_->getSizeInCellsX(), occupancy_grid_map_updater_ptr_->getSizeInCellsY(), occupancy_grid_map_updater_ptr_->getResolution()); } else { @@ -113,7 +114,7 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( "specified occupancy grid map type [%s] is not found, use OccupancyGridMapFixedBlindSpot", grid_map_type.c_str()); occupancy_grid_map_ptr_ = std::make_unique( - occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + true, occupancy_grid_map_updater_ptr_->getSizeInCellsX(), occupancy_grid_map_updater_ptr_->getSizeInCellsY(), occupancy_grid_map_updater_ptr_->getResolution()); } @@ -139,6 +140,9 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( time_keeper_ = std::make_shared(time_keeper); } } + + cudaStreamCreate(&raw_pointcloud_.stream); + cudaStreamCreate(&obstacle_pointcloud_.stream); } void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( @@ -151,30 +155,27 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( if (stop_watch_ptr_) { stop_watch_ptr_->toc("processing_time", true); } - // if scan_origin_frame_ is "", replace it with input_raw_msg->header.frame_id + + raw_pointcloud_.fromROSMsgAsync(*input_raw_msg); + obstacle_pointcloud_.fromROSMsgAsync(*input_obstacle_msg); + + // if scan_origin_frame_ is "", replace it with raw_pointcloud_.header.frame_id if (scan_origin_frame_.empty()) { - scan_origin_frame_ = input_raw_msg->header.frame_id; + scan_origin_frame_ = raw_pointcloud_.header.frame_id; } - PointCloud2 trans_input_raw{}, trans_input_obstacle{}; - bool is_raw_transformed = false; - bool is_obstacle_transformed = false; - // Prepare for applying height filter if (use_height_filter_) { // Make sure that the frame is base_link - if (input_raw_msg->header.frame_id != base_link_frame_) { - if (!utils::transformPointcloud(*input_raw_msg, *tf2_, base_link_frame_, trans_input_raw)) { + if (raw_pointcloud_.header.frame_id != base_link_frame_) { + if (!utils::transformPointcloudAsync(raw_pointcloud_, *tf2_, base_link_frame_)) { return; } - is_raw_transformed = true; } if (input_obstacle_msg->header.frame_id != base_link_frame_) { - if (!utils::transformPointcloud( - *input_obstacle_msg, *tf2_, base_link_frame_, trans_input_obstacle)) { + if (!utils::transformPointcloudAsync(obstacle_pointcloud_, *tf2_, base_link_frame_)) { return; } - is_obstacle_transformed = true; } occupancy_grid_map_ptr_->setHeightLimit(min_height_, max_height_); } else { @@ -182,32 +183,16 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( -std::numeric_limits::infinity(), std::numeric_limits::infinity()); } - const PointCloud2::ConstSharedPtr input_raw_use = - is_raw_transformed ? std::make_shared(trans_input_raw) : input_raw_msg; - const PointCloud2::ConstSharedPtr input_obstacle_use = - is_obstacle_transformed ? std::make_shared(trans_input_obstacle) - : input_obstacle_msg; - - // Filter obstacle pointcloud by raw pointcloud - PointCloud2 input_obstacle_pc_common{}; - bool use_input_obstacle_pc_common = false; - if (filter_obstacle_pointcloud_by_raw_pointcloud_) { - if (utils::extractCommonPointCloud( - *input_obstacle_use, *input_raw_use, input_obstacle_pc_common)) { - use_input_obstacle_pc_common = true; - } - } - // Get from map to sensor frame pose Pose robot_pose{}; Pose gridmap_origin{}; Pose scan_origin{}; try { - robot_pose = utils::getPose(input_raw_msg->header.stamp, *tf2_, base_link_frame_, map_frame_); + robot_pose = utils::getPose(raw_pointcloud_.header.stamp, *tf2_, base_link_frame_, map_frame_); gridmap_origin = - utils::getPose(input_raw_msg->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); + utils::getPose(raw_pointcloud_.header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); scan_origin = - utils::getPose(input_raw_msg->header.stamp, *tf2_, scan_origin_frame_, map_frame_); + utils::getPose(raw_pointcloud_.header.stamp, *tf2_, scan_origin_frame_, map_frame_); } catch (tf2::TransformException & ex) { RCLCPP_WARN_STREAM(get_logger(), ex.what()); return; @@ -224,9 +209,7 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( gridmap_origin.position.x - occupancy_grid_map_ptr_->getSizeInMetersX() / 2, gridmap_origin.position.y - occupancy_grid_map_ptr_->getSizeInMetersY() / 2); occupancy_grid_map_ptr_->updateWithPointCloud( - *input_raw_use, - (use_input_obstacle_pc_common ? input_obstacle_pc_common : *input_obstacle_use), robot_pose, - scan_origin); + raw_pointcloud_, obstacle_pointcloud_, robot_pose, scan_origin); } if (enable_single_frame_mode_) { @@ -234,6 +217,8 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( if (time_keeper_) inner_st_ptr = std::make_unique("publish_occupancy_grid_map", *time_keeper_); + occupancy_grid_map_ptr_->copyDeviceCostmapToHost(); + // publish occupancy_grid_map_pub_->publish(OccupancyGridMapToMsgPtr( map_frame_, input_raw_msg->header.stamp, robot_pose.position.z, diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp index 34afd5edc7c37..c985414ffdf6b 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -18,6 +18,7 @@ #include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" #include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp" #include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/cuda_pointcloud.hpp" #include #include @@ -82,6 +83,9 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node std::unique_ptr occupancy_grid_map_ptr_; std::unique_ptr occupancy_grid_map_updater_ptr_; + CudaPointCloud2 raw_pointcloud_; + CudaPointCloud2 obstacle_pointcloud_; + // ROS Parameters std::string map_frame_; std::string base_link_frame_; diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index ff859a4d44ce3..fded0cf83bf65 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_crossing_objects_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index f5900066cb10b..04aa0db6938c3 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.40.0 + 0.41.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index f6f48dfe36231..1a78bb1f0f199 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_radar_fusion_to_detected_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (`#9654 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 20d6331dc8a37..e16b4a5cdc2a0 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.40.0 + 0.41.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index b1609dd939090..02718bfcf0968 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_object_clustering ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index c8b5278c60292..5ec802cf4225c 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.40.0 + 0.41.0 autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index 028737b0d4482..bce0d26c71f35 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 4868e93ba9e72..6fee7b009cb91 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.40.0 + 0.41.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 9b60a1b24ec7a..d12916eb23e43 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_radar_tracks_msgs_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_radar_tracks_msgs_converter): fix bugprone-reserved-identifier (`#9658 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index 5b2e1c7d6a039..deb438818b6b7 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.40.0 + 0.41.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index d61173ea1cfea..558501fbc9bf6 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_raindrop_cluster_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9896 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_raindrop_cluster_filter +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index af3a2b1e9179f..d4d237ff73586 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.40.0 + 0.41.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 85af9f1cf54ac..fdd4382218028 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_shape_estimation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_shape_estimation): tier4_debug_msgs chnaged to autoware_internal_debug_msgs in autoware_shape_estimation (`#9897 `_) + feat: tier4_debug_msgs chnaged to autoware_internal_debug_msgs in files perception/autoware_shape_estimation +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(autoware_shape_estimation): fix bugprone-branch-clone (`#9659 `_) + * fix: bugprone-error + * fix: fmt + * fix: pre-commit + * fix: pre-commit + --------- +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index cfc1d7e829a8a..54fb99ecb4ab6 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.40.0 + 0.41.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index d45c6a726433d..49953813d302d 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_simple_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index db20c03a95640..6398e4e640535 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.40.0 + 0.41.0 autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index 88311b8ed9515..9cba11673c1b5 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_tensorrt_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(autoware_tensorrt_classifier): fix bugprone-exception-escape (`#9732 `_) + fix: bugprone-error +* Contributors: Amadeusz Szymko, Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index 489f5f2596e25..f752cd723a842 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.40.0 + 0.41.0 tensorrt classifier wrapper Dan Umeda diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index ab3b7187c0169..771f9189c3092 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_tensorrt_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(autoware_tensorrt_common): fix bugprone-integer-division (`#9660 `_) + fix: bugprone-error +* Contributors: Amadeusz Szymko, Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index 300a7b263c063..475332d5795be 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.40.0 + 0.41.0 tensorrt utility wrapper Taichi Higashide diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index 969f1df4b5496..2b7959f6234c9 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -2,6 +2,53 @@ Changelog for package autoware_tensorrt_yolox ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_tensorrt_yolox)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tensorrt_yolox (`#9898 `_) +* feat(tensorrt_yolox): add launch for tlr model (`#9828 `_) + * feat(tensorrt_yolox): add launch for tlr model + * chore: typo + * docs: update readme and description + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name (`#9156 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* fix(autoware_tensorrt_yolox): fix bugprone-exception-escape (`#9734 `_) + * fix: bugprone-error + * fix: fmt + * fix: fmt + --------- +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Vishal Chauhan, badai nguyen, cyn-liu, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 40da8422a7b93..5c1b00906285b 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.40.0 + 0.41.0 tensorrt library implementation for yolox Daisuke Nishimatsu diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index 337e7028ee61f..765f639a58918 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_tracking_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_tracking_object_merger)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tracking_object_merger (`#9899 `_) +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) + feat: enable anonymized node names to be configurable +* fix(autoware_tracking_object_merger): fix bugprone-branch-clone (`#9662 `_) + * fix: bugprone-error + * fix: fmt + --------- +* Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index 2b19ee381258f..d61479f44f31d 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.40.0 + 0.41.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index 0b3182907a8ce..a086c29ae65f7 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_traffic_light_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_traffic_light_arbiter): add current time validation (`#9747 `_) + * add current time validation + * style(pre-commit): autofix + * change ros parameter name + * style(pre-commit): autofix + * add validation with absolute function + * add timestamp of topic in test + * fix ci error + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Masato Saeki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 03d6ad5cb6cf4..abf0e2c2204cd 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.40.0 + 0.41.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index db6ddb6b18f87..ee564098cc8f0 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_traffic_light_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_traffic_light_classifier): modify docs (`#9819 `_) + * modify docs + * style(pre-commit): autofix + * fix docs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Masato Saeki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index d83791916d4b9..8ca6f1685bdcb 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.40.0 + 0.41.0 The autoware_traffic_light_classifier package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 80b1fa60f9e1f..3d6d2ccedea8b 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_traffic_light_fine_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(traffic_light_fine_detector)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in traffic_light_fine_detector (`#9900 `_) +* chore(autoware_traffic_light_fine_detector): modify docs and related params (`#9818 `_) + * modify readme and related params + * fix typo + * fix + --------- +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) + * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components + * style(pre-commit): autofix + * style(autoware_tensorrt_common): linting + * style(autoware_lidar_centerpoint): typo + Co-authored-by: Kenzo Lobos Tsunekawa + * docs(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_lidar_transfusion): reuse cast variable + * fix(autoware_tensorrt_common): remove deprecated inference API + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * style(autoware_tensorrt_common): grammar + Co-authored-by: Kenzo Lobos Tsunekawa + * fix(autoware_tensorrt_common): const pointer + * fix(autoware_tensorrt_common): remove unused method declaration + * style(pre-commit): autofix + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): return if layer not registered + * refactor(autoware_tensorrt_common): readability + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * fix(autoware_tensorrt_common): rename struct + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Fumiya Watanabe, Masato Saeki, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index 2b639fb98bebf..719d2442b799e 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.40.0 + 0.41.0 The autoware_traffic_light_fine_detector package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 60f84da7131f2..c020c1439900a 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package autoware_traffic_light_map_based_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_traffic_light_map_based_detector): modify docs (`#9817 `_) + * modify docs + * fix title + * fix docs + * fix word + * add comment about debug markers + * fix docs + --------- +* Contributors: Fumiya Watanabe, Masato Saeki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index c5caca47a0c39..a21374652c7cb 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.40.0 + 0.41.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 74a7fa049c486..1f2fdfa5b5145 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_traffic_light_multi_camera_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_traffic_light_multi_camera_fusion): modify docs (`#9821 `_) + * fix docs + * add condition + --------- +* Contributors: Fumiya Watanabe, Masato Saeki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index dfe8657577582..4dd1f53a2e8fa 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.40.0 + 0.41.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index 8dec833763cb7..8833224d5b69f 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_traffic_light_occlusion_predictor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_traffic_light_occlusion_predictor): modify docs (`#9820 `_) + * fix docs + * fix docs + --------- +* Contributors: Fumiya Watanabe, Masato Saeki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index e10dddaf40eaf..a9972c9f73d3c 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.40.0 + 0.41.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 420b4bf485eec..8429db3fca7f1 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_traffic_light_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_traffic_light_visualization): fix bugprone-branch-clone (`#9668 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index afb30d43f2a70..e55b9088a8521 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.40.0 + 0.41.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index ddbe6e3f40270..23f2b8565e014 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package perception_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index 058811b048459..07793f979fd51 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.40.0 + 0.41.0 The perception_utils package Shunsuke Miura Yoshi Ri diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 6215cd6361b49..398a155c2f1d7 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package autoware_costmap_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_costmap_generator): tier4_debug_msgs changed to autoware_internal-debug_msgs in autoware_costmap_generator (`#9901 `_) + feat: tier4_debug_msgs changed to autoware_internal-debug_msgs in files planning/autoware_costmap_generator +* fix(autoware_costmap_generator): fix bugprone-branch-clone (`#9669 `_) + fix: bugprone-error +* chore(autoware_costmap_generator): suppress Could not find a connection between 'map' and 'base_link' (`#9655 `_) +* Contributors: Fumiya Watanabe, Vishal Chauhan, Yukinari Hisaki, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 9097109de0a0b..d2d0eba64cdd0 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.40.0 + 0.41.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index 0dd0f835c1f53..d13758041970f 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_external_velocity_limit_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9902 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_external_velocity_limit_selector +* test(external_velocity_limit_selector): add node test (`#8944 `_) + add node smoke test +* Contributors: Fumiya Watanabe, Maxime CLEMENT, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index 4a4fac40bd8a5..f7acfcb4d927a 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.40.0 + 0.41.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index ad8960a64d3d2..75774a107b615 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_freespace_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_freespace_planner): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_freespace_planner (`#9903 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in flies planning/autoware_freespace_planner +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index fd7e39d191647..7586d110d4f51 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.40.0 + 0.41.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 8f6b94a2e0a80..7c97be99b7625 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package autoware_freespace_planning_algorithms ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_freespace_planning_algorithms): fix bugprone-errors (`#9670 `_) + * fix: bugprone-error + * fix: bugprone-error + --------- +* build(autoware_freespace_planning_algorithms): increase test timeout to 2 mins (`#9639 `_) +* Contributors: Fumiya Watanabe, M. Fatih Cırıt, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index 4bffa7bd15c1d..873e95ec42b14 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.40.0 + 0.41.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_mission_planner_universe/CHANGELOG.rst b/planning/autoware_mission_planner_universe/CHANGELOG.rst index ecbc1c4d7feef..8965e78f50b32 100644 --- a/planning/autoware_mission_planner_universe/CHANGELOG.rst +++ b/planning/autoware_mission_planner_universe/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_mission_planner_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_mission_planner_universe/package.xml b/planning/autoware_mission_planner_universe/package.xml index 73da68c792d6f..804623d60a63f 100644 --- a/planning/autoware_mission_planner_universe/package.xml +++ b/planning/autoware_mission_planner_universe/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner_universe - 0.40.0 + 0.41.0 The autoware_mission_planner_universe package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index 16b583990ec3e..6491c3d036148 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_objects_of_interest_marker_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_objects_of_interest_marker_interface): fix bugprone-branch-clone (`#9671 `_) +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml index 6d179f7872dc1..82e6637685ea7 100644 --- a/planning/autoware_objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,7 +1,7 @@ autoware_objects_of_interest_marker_interface - 0.40.0 + 0.41.0 The autoware_objects_of_interest_marker_interface package Fumiya Watanabe diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 827fee6a58039..b1922cde64477 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_obstacle_cruise_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_obstacle_cruise_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_cruise_planner (`#9905 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_cruise_planner +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* docs(obstacle_cruise_planner): add supplemental figures (`#9154 `_) + * add behavior determination flowchart + * add cruise planning block diagram + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Mamoru Sobue, Mitsuhiro Sakamoto, Satoshi OTA, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 807908de2d6dc..c70c8ce6f710f 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.40.0 + 0.41.0 The autoware_obstacle_cruise_planner package Takayuki Murooka diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index 867553c9ffd4e..46abbe1a1729f 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_obstacle_stop_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_obstacle_stop_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_stop_planner (`#9906 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_stop_planner +* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) + * feat(autoware_planning_test_manager): remove dependency of virtual traffic light + * modify obstacle_stop test code + --------- +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* fix(obstacle_stop_planner): migrate planning factor (`#9939 `_) + * fix(obstacle_stop_planner): migrate planning factor + * fix(autoware_default_adapi): add coversion map + --------- +* Contributors: Fumiya Watanabe, Satoshi OTA, Takayuki Murooka, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 25332774366b0..d0e3a0f7e2f82 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.40.0 + 0.41.0 The autoware_obstacle_stop_planner package Satoshi Ota diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 19798e6697ec6..e7b8e6b96114a 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_path_optimizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_path_optimizer)!: tier4_debug_msgs changed to autoware-internal_debug_msgs in autoware_path_optimizer (`#9907 `_) + * feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files planning/autoware_path_optimizer + * Update planning/autoware_path_optimizer/package.xml + --------- + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) + feat(motion planning): use StringStamped in autoware_internal_debug_msgs +* Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 26e242c94902f..144810b545dbe 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.40.0 + 0.41.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index 4b7f86361c63b..9d647e7994aa0 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_path_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_path_smoother)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_path_smoother (`#9910 `_) + * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_path_smoother + * Update planning/autoware_path_smoother/package.xml + --------- + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) + feat(motion planning): use StringStamped in autoware_internal_debug_msgs +* fix(autoware_path_smoother): fix bugprone-branch-clone (`#9697 `_) + * fix: bugprone-error + * fix: bugprone-error + --------- +* Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 75b8786877707..6d2ea76a15c12 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.40.0 + 0.41.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_planning_factor_interface/CHANGELOG.rst b/planning/autoware_planning_factor_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..6a71f2cee42f1 --- /dev/null +++ b/planning/autoware_planning_factor_interface/CHANGELOG.rst @@ -0,0 +1,68 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_planning_factor_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* Contributors: Fumiya Watanabe, Satoshi OTA + +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* Contributors: Fumiya Watanabe, Satoshi OTA + +0.40.0 (2025-01-06) +------------------- + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/planning/autoware_planning_factor_interface/package.xml b/planning/autoware_planning_factor_interface/package.xml index 2d990ff31d482..1a5a4d3f9dbd7 100644 --- a/planning/autoware_planning_factor_interface/package.xml +++ b/planning/autoware_planning_factor_interface/package.xml @@ -2,7 +2,7 @@ autoware_planning_factor_interface - 0.40.0 + 0.41.0 The autoware_planning_factor_interface package Satoshi Ota Mamoru Sobue diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index f1ac0f088c3cc..2ac0d456364e7 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package autoware_planning_test_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset (`#9967 `_) + * feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset + * fix + --------- +* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) + * feat(autoware_planning_test_manager): remove dependency of virtual traffic light + * modify obstacle_stop test code + --------- +* test(autoware_behavior_path_start_planner_module): add unit tests for shift shift pull out planner (`#9776 `_) + feat(behavior_path_planner): add unit tests for ShiftPullOut path planning +* refactor(autoware_test_utils): enhance makeMapBinMsg to accept package name and map filename parameters (`#9617 `_) + * feat: enhance makeMapBinMsg to accept package name and map filename parameters + * feat: set default package name to 'autoware_test_utils' in makeMapBinMsg and related functions + --------- +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Ryohsuke Mitsudome, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 8bd31951ea0e9..af42894edf6d5 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -2,7 +2,7 @@ autoware_planning_test_manager - 0.40.0 + 0.41.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index e937e664654a2..3b70087c34e1d 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_planning_topic_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index e2585924a61d2..cc81643ca5a37 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.40.0 + 0.41.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index 76018e5bf5f11..cb05c9be90c21 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_planning_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_planning_validator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_planning_validator (`#9911 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_planning_validator +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index 1652c2ad4f544..fd369a259bd66 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.40.0 + 0.41.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 570e7b4783ca4..f715c8102a7ed 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_remaining_distance_time_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(remaining_distance_time_calculator): integrate generate_parameter_library (`#8826 `_) + * add parameter description + * use parameter listener + * supress deprecated error + * change scope of compile option to private + --------- +* feat(remaining_distance_time_calculator): skip calculation during parking (`#9013 `_) +* Contributors: Fumiya Watanabe, Ismet Atabay, Mitsuhiro Sakamoto + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index 568f677a0c13d..25a223fbd7a3c 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.40.0 + 0.41.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index d70e5897c96b5..eb61d677e96ce 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_route_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_route_handler): fix bugprone-exception-escape (`#9738 `_) + * fix: bugprone-error + * fix: add include + --------- +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml index ededbcc9eef3d..f6f770ea59daf 100644 --- a/planning/autoware_route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -2,7 +2,7 @@ autoware_route_handler - 0.40.0 + 0.41.0 The route_handling package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index 11672d2c47e3e..b2bb8027a5efb 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_rtc_interface): fix bugprone-branch-clone (`#9698 `_) +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index 861554e81408e..c6d35ea0e5e93 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.40.0 + 0.41.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index 877192f0e68f9..868adbed5c554 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_scenario_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_scenario_selector): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_scenario_selector (`#9914 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_scenario_selector +* fix(autoware_scenario_selector): fix bugprone-branch-clone (`#9699 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index e726e40acecce..eabd381891771 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.40.0 + 0.41.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index c6e1a13a59aa2..2a497056dc480 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_surround_obstacle_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(autoware_surround_obstacle_checker): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_surround_obstacle_checker (`#9915 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_surround_obstacle_checker +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index d92223fb2ea5d..e5ee999aa24d8 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.40.0 + 0.41.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index 4655c9658ef2b..82283cfca5b13 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package autoware_velocity_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(velocity_smoother): introduce diagnostics (`#9933 `_) + * feat(velocity_smoother): introduce diagnostics + * fix + --------- +* feat(velocity_smoother): use autoware internal Stamped messages (`#9749 `_) + * feat(velocity_smoother): use autoware internal Stamped messages + * fix + --------- +* Contributors: Fumiya Watanabe, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index 3d1252ff0b7a6..dc49d947c058d 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.40.0 + 0.41.0 The autoware_velocity_smoother package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index 0b2d004e1f02b..83cc289b049f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index 83c361d064fb0..5350adf23fa26 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.40.0 + 0.41.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 5b5179f250d8d..79f10763f452e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index e3aefb01c797d..bc52f39a030d4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.40.0 + 0.41.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 0a315105e5bf1..4d907f1d64a20 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index af46393d9b9ae..30b1938bb9427 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.40.0 + 0.41.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index 627f216b6d7c9..f09d91b2c87ae 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_behavior_path_goal_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(goal_planner): introduce bezier based pullover for bus stop area (`#10027 `_) +* fix(goal_planner): fix waiting approval path of backward parking (`#10015 `_) +* refactor(goal_planner): divide extract_dynamic_object/is_goal_in_lanes util function (`#10019 `_) +* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(goal_planner): fix geometric pull over (`#9932 `_) +* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) + * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners + * refactor(autoware_behavior_path_start_planner_module): remove TimeKeeper parameter from pull-out planners + * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling + * refactor(planner): add planner_data parameter to plan methods in pull out planners + * refactor(autoware_behavior_path_start_planner_module): remove LaneDepartureChecker dependency from pull-out planners + --------- +* feat(goal_planner): update lateral_deviation_thresh from `0.3` to `0.1` (`#9850 `_) + * fix(goal_planner): Update lateral_deviation_thresh from 0.3 to 0.1 + * unified hasDeviatedFrom{Last|Current}PreviousModulePath + * style(pre-commit): autofix + * hasDeviatedFromPath argument modification + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(goal_planner): cut stop path to goal (`#9829 `_) +* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) + * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling + --------- +* fix(goal_planner): fix usage of last_previous_module_output (`#9811 `_) +* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) +* chore(autoware_test_utils): update test map (`#9664 `_) +* refactor(goal_planner): divide sort function (`#9650 `_) +* perf(goal_planner): remove unnecessary call to setMap on freespace planning (`#9644 `_) +* feat(goal_planner): add bezier based pull over planner (`#9642 `_) +* feat(goal_planner): divide Planners to isolated threads (`#9514 `_) +* Contributors: Fumiya Watanabe, Kazunori-Nakajima, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 5eb71126bb838..95b2095f87164 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -25,8 +25,8 @@ high_curvature_threshold: 0.1 bus_stop_area: use_bus_stop_area: false - goal_search_interval: 0.5 - lateral_offset_interval: 0.25 + goal_search_interval: 0.75 + lateral_offset_interval: 0.3 # occupancy grid map occupancy_grid: @@ -52,6 +52,7 @@ # pull over pull_over: minimum_request_length: 0.0 + pull_over_prepare_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -59,7 +60,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) - lane_departure_check_expansion_margin: 0.0 + lane_departure_check_expansion_margin: 0.2 # shift parking shift_parking: @@ -73,21 +74,21 @@ # parallel parking path parallel_parking: path_interval: 1.0 - max_steer_angle: 0.35 # 20deg + max_steer_angle: 0.4 #22.9deg forward: enable_arc_forward_parking: true after_forward_parking_straight_distance: 2.0 forward_parking_velocity: 1.38 forward_parking_lane_departure_margin: 0.0 forward_parking_path_interval: 1.0 - forward_parking_max_steer_angle: 0.35 # 20deg + forward_parking_max_steer_angle: 0.4 # 22.9deg backward: enable_arc_backward_parking: true after_backward_parking_straight_distance: 2.0 backward_parking_velocity: -1.38 backward_parking_lane_departure_margin: 0.0 backward_parking_path_interval: 1.0 - backward_parking_max_steer_angle: 0.35 # 20deg + backward_parking_max_steer_angle: 0.4 # 22.9deg # freespace parking freespace_parking: @@ -130,6 +131,10 @@ neighbor_radius: 8.0 margin: 1.0 + bezier_parking: + pull_over_angle_threshold: 0.5 + after_shift_straight_distance: 1.5 + stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 @@ -139,13 +144,13 @@ min_velocity: 1.0 min_acceleration: 1.0 max_velocity: 1.0 - time_horizon_for_front_object: 10.0 - time_horizon_for_rear_object: 10.0 + time_horizon_for_front_object: 5.0 + time_horizon_for_rear_object: 5.0 time_resolution: 0.5 delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 10.0 + safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -179,7 +184,7 @@ # safety check configuration enable_safety_check: true method: "integral_predicted_polygon" - keep_unsafe_time: 3.0 + keep_unsafe_time: 0.5 # collision check parameters publish_debug_marker: false rss_params: @@ -192,7 +197,7 @@ forward_margin: 1.0 backward_margin: 1.0 lat_margin: 1.0 - time_horizon: 10.0 + time_horizon: 5.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 collision_check_yaw_diff_threshold: 3.1416 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 84367fdd91b80..f2cc7e2f4ef65 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -18,6 +18,7 @@ #include "autoware/behavior_path_goal_planner_module/decision_state.hpp" #include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp" #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/bezier_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/thread_data.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp" @@ -86,8 +87,8 @@ struct PullOverContextData explicit PullOverContextData( const bool is_stable_safe_path, const PredictedObjects & static_objects, const PredictedObjects & dynamic_objects, const PathDecisionState & prev_state, - const bool is_stopped, const LaneParkingResponse & lane_parking_response, - const FreespaceParkingResponse & freespace_parking_response) + const bool is_stopped, LaneParkingResponse && lane_parking_response, + FreespaceParkingResponse && freespace_parking_response) : is_stable_safe_path(is_stable_safe_path), static_target_objects(static_objects), dynamic_target_objects(dynamic_objects), @@ -112,8 +113,8 @@ struct PullOverContextData void update( const bool is_stable_safe_path_, const PredictedObjects static_target_objects_, const PredictedObjects dynamic_target_objects_, const PathDecisionState prev_state_for_debug_, - const bool is_stopped_, const LaneParkingResponse & lane_parking_response_, - const FreespaceParkingResponse & freespace_parking_response_) + const bool is_stopped_, LaneParkingResponse && lane_parking_response_, + FreespaceParkingResponse && freespace_parking_response_) { is_stable_safe_path = is_stable_safe_path_; static_target_objects = static_target_objects_; @@ -196,6 +197,21 @@ class LaneParkingPlanner original_upstream_module_output_; // bezier_pull_over_planner_; + const double pull_over_angle_threshold; + + bool switch_bezier_{false}; + void normal_pullover_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates); + void bezier_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates, + std::optional> & sorted_indices) const; }; class FreespaceParkingPlanner @@ -302,6 +318,7 @@ class GoalPlannerModule : public SceneModuleInterface private: std::pair syncWithThreads(); + bool trigger_thread_on_approach_{false}; // NOTE: never access to following variables except in updateData()!!! std::mutex lane_parking_mutex_; std::optional lane_parking_request_; @@ -433,7 +450,8 @@ class GoalPlannerModule : public SceneModuleInterface std::optional selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const; + const GoalCandidates & goal_candidates, + const std::optional> sorted_bezier_indices_opt) const; // lanes and drivable area std::vector generateDrivableLanes() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index 440e57b53d07f..814cffd388703 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -88,6 +88,7 @@ struct GoalPlannerParameters // pull over general params double pull_over_minimum_request_length{0.0}; + double pull_over_prepare_length{0.0}; double pull_over_velocity{0.0}; double pull_over_minimum_velocity{0.0}; double decide_path_distance{0.0}; @@ -119,6 +120,12 @@ struct GoalPlannerParameters AstarParam astar_parameters{}; RRTStarParam rrt_star_parameters{}; + struct BezierParking + { + double pull_over_angle_threshold; + double after_shift_straight_distance; + } bezier_parking; + // stop condition double maximum_deceleration_for_stop{0.0}; double maximum_jerk_for_stop{0.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 5af69894c0a2e..7f404a4055b26 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -68,6 +68,10 @@ struct PullOverPath const std::vector & parking_path_curvatures() const { return parking_path_curvatures_; } double full_path_max_curvature() const { return full_path_max_curvature_; } double parking_path_max_curvature() const { return parking_path_max_curvature_; } + double parking_path_curvature_total_derivative() const + { + return parking_path_curvature_total_derivative_; + } size_t path_idx() const { return path_idx_; } bool incrementPathIndex(); @@ -94,7 +98,7 @@ struct PullOverPath const PathWithLaneId & full_path, const PathWithLaneId & parking_path, const std::vector & full_path_curvatures, const std::vector & parking_path_curvatures, const double full_path_max_curvature, - const double parking_path_max_curvature, + const double parking_path_max_curvature, const double parking_path_curvature_total_derivative, const std::vector> & pairs_terminal_velocity_and_accel); PullOverPlannerType type_; @@ -109,6 +113,7 @@ struct PullOverPath std::vector parking_path_curvatures_; double full_path_max_curvature_; double parking_path_max_curvature_; + double parking_path_curvature_total_derivative_; // accelerate with constant acceleration to the target velocity size_t path_idx_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 7173b275e26fb..af20c5f6debe5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -43,7 +43,8 @@ class LaneParkingRequest void update( const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & upstream_module_output, - const std::optional & pull_over_path, const PathDecisionState & prev_data); + const std::optional & pull_over_path, const PathDecisionState & prev_data, + const bool trigger_thread_on_approach); const autoware::universe_utils::LinearRing2d vehicle_footprint_; const GoalCandidates goal_candidates_; @@ -56,6 +57,7 @@ class LaneParkingRequest } const std::optional & get_pull_over_path() const { return pull_over_path_; } const PathDecisionState & get_prev_data() const { return prev_data_; } + bool trigger_thread_on_approach() const { return trigger_thread_on_approach_; } private: std::shared_ptr planner_data_; @@ -63,12 +65,14 @@ class LaneParkingRequest BehaviorModuleOutput upstream_module_output_; std::optional pull_over_path_; // pull_over_path_candidates; std::optional closest_start_pose; + std::optional> sorted_bezier_indices_opt; }; class FreespaceParkingRequest diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index f00d9d41622e9..7f375da295fb9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -185,6 +185,15 @@ std::optional calcRefinedGoal( std::optional calcClosestPose( const lanelet::ConstLineString3d line, const Point & query_point); +autoware_perception_msgs::msg::PredictedObjects extract_dynamic_objects( + const autoware_perception_msgs::msg::PredictedObjects & original_objects, + const route_handler::RouteHandler & route_handler, const GoalPlannerParameters & parameters, + const double vehicle_width); + +bool is_goal_reachable_on_path( + const lanelet::ConstLanelets current_lanes, const route_handler::RouteHandler & route_handler, + const bool left_side_parking); + } // namespace autoware::behavior_path_planner::goal_planner_utils #endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index 78c4ea7e4c609..feb42cdee92b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.40.0 + 0.41.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index c7e32a47a59f9..448429b9a3b0b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -29,6 +29,8 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" +#include +#include #include #include #include @@ -38,6 +40,7 @@ #include #include #include +#include #include #include #include @@ -276,7 +279,8 @@ LaneParkingPlanner::LaneParkingPlanner( request_(request), response_(response), is_lane_parking_cb_running_(is_lane_parking_cb_running), - logger_(logger) + logger_(logger), + pull_over_angle_threshold(parameters.bezier_parking.pull_over_angle_threshold) { for (const std::string & planner_type : parameters.efficient_path_order) { if (planner_type == "SHIFT" && parameters.enable_shift_parking) { @@ -290,6 +294,8 @@ LaneParkingPlanner::LaneParkingPlanner( } } + bezier_pull_over_planner_ = std::make_shared(node, parameters); + if (pull_over_planners_.empty()) { RCLCPP_ERROR(logger_, "Not found enabled planner"); } @@ -312,18 +318,18 @@ void LaneParkingPlanner::onTimer() } // end of critical section if (!local_request_opt) { - RCLCPP_ERROR(logger_, "main thread has not yet set request for LaneParkingPlanner"); + RCLCPP_DEBUG(logger_, "main thread has not yet set request for LaneParkingPlanner"); return; } const auto & local_request = local_request_opt.value(); const auto & goal_candidates = local_request.goal_candidates_; const auto & local_planner_data = local_request.get_planner_data(); - const auto & current_status = local_request.get_current_status(); const auto & upstream_module_output = local_request.get_upstream_module_output(); const auto & pull_over_path_opt = local_request.get_pull_over_path(); const auto & prev_data = local_request.get_prev_data(); + const auto trigger_thread_on_approach = local_request.trigger_thread_on_approach(); - if (current_status == ModuleStatus::IDLE) { + if (!trigger_thread_on_approach) { return; } @@ -387,19 +393,59 @@ void LaneParkingPlanner::onTimer() /*forward_only_in_route*/ false); std::vector path_candidates{}; std::optional closest_start_pose{}; - double min_start_arc_length = std::numeric_limits::max(); + std::optional> sorted_indices_opt{std::nullopt}; + if (parameters_.bus_stop_area.use_bus_stop_area && switch_bezier_) { + bezier_planning_helper( + local_planner_data, goal_candidates, upstream_module_output, current_lanes, + closest_start_pose, path_candidates, sorted_indices_opt); + } else { + normal_pullover_planning_helper( + local_planner_data, goal_candidates, upstream_module_output, current_lanes, + closest_start_pose, path_candidates); + } + + // set response + { + original_upstream_module_output_ = upstream_module_output; + std::lock_guard guard(mutex_); + response_.pull_over_path_candidates = path_candidates; + if (closest_start_pose) { + response_.closest_start_pose = closest_start_pose; + } + RCLCPP_INFO( + getLogger(), "generated %lu pull over path candidates", + response_.pull_over_path_candidates.size()); + response_.sorted_bezier_indices_opt = std::move(sorted_indices_opt); + } +} + +void LaneParkingPlanner::normal_pullover_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates) +{ + // todo: currently non centerline input path is supported only by shift pull over + const bool is_center_line_input_path = goal_planner_utils::isReferencePath( + upstream_module_output.reference_path, upstream_module_output.path, 0.1); + RCLCPP_DEBUG( + getLogger(), "the input path of pull over planner is center line: %d", + is_center_line_input_path); + + double min_start_arc_length = std::numeric_limits::infinity(); const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - const auto pull_over_path = planner->plan( - goal_candidate, path_candidates.size(), local_planner_data, upstream_module_output); + // normal pull_over + const auto pull_over_path = + planner->plan(goal_candidate, path_candidates.size(), planner_data, upstream_module_output); if (pull_over_path) { // calculate absolute maximum curvature of parking path(start pose to end pose) for path // priority path_candidates.push_back(*pull_over_path); // calculate closest pull over start pose for stop path const double start_arc_length = - lanelet::utils::getArcCoordinates(current_lanes, pull_over_path->start_pose()).length; + lanelet::utils::getArcCoordinates(current_lanelets, pull_over_path->start_pose()).length; if (start_arc_length < min_start_arc_length) { min_start_arc_length = start_arc_length; // closest start pose is stop point when not finding safe path @@ -408,13 +454,6 @@ void LaneParkingPlanner::onTimer() } }; - // todo: currently non centerline input path is supported only by shift pull over - const bool is_center_line_input_path = goal_planner_utils::isReferencePath( - upstream_module_output.reference_path, upstream_module_output.path, 0.1); - RCLCPP_DEBUG( - getLogger(), "the input path of pull over planner is center line: %d", - is_center_line_input_path); - // plan candidate paths and set them to the member variable if (parameters_.path_priority == "efficient_path") { for (const auto & planner : pull_over_planners_) { @@ -436,22 +475,104 @@ void LaneParkingPlanner::onTimer() planCandidatePaths(planner, goal_candidate); } } - } else { - RCLCPP_ERROR( - getLogger(), "path_priority should be efficient_path or close_goal, but %s is given.", - parameters_.path_priority.c_str()); - throw std::domain_error("[pull_over] invalid path_priority"); } - // set response - { - original_upstream_module_output_ = upstream_module_output; - std::lock_guard guard(mutex_); - response_.pull_over_path_candidates = std::move(path_candidates); - response_.closest_start_pose = closest_start_pose; + if (closest_start_pose) { + const auto original_pose = planner_data->route_handler->getOriginalGoalPose(); + if ( + parameters_.bus_stop_area.use_bus_stop_area && + std::fabs(autoware::universe_utils::normalizeRadian( + autoware::universe_utils::getRPY(original_pose).z - + autoware::universe_utils::getRPY(closest_start_pose.value()).z)) > + pull_over_angle_threshold) { + // reset and try bezier next time + switch_bezier_ = true; + path_candidates.clear(); + RCLCPP_INFO(getLogger(), "will generate Bezier Paths next"); + } + } else if (parameters_.bus_stop_area.use_bus_stop_area && path_candidates.size() == 0) { + switch_bezier_ = true; RCLCPP_INFO( - getLogger(), "generated %lu pull over path candidates", - response_.pull_over_path_candidates.size()); + getLogger(), "Could not find any shift pull over paths, will generate Bezier Paths next"); + } +} + +void LaneParkingPlanner::bezier_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates, + std::optional> & sorted_indices_opt) const +{ + autoware::universe_utils::StopWatch timer; + timer.tic("bezier"); + std::vector path_candidates_all; + for (const auto & goal_candidate : goal_candidates) { + auto bezier_pull_over_paths = bezier_pull_over_planner_->plans( + goal_candidate, path_candidates_all.size(), planner_data, upstream_module_output); + std::copy( + std::make_move_iterator(bezier_pull_over_paths.begin()), + std::make_move_iterator(bezier_pull_over_paths.end()), + std::back_inserter(path_candidates_all)); + } + RCLCPP_INFO( + getLogger(), "there are %lu bezier paths (calculated in %f [sec])", path_candidates_all.size(), + timer.toc("bezier")); + + sorted_indices_opt = std::vector(); + auto & sorted_indices = sorted_indices_opt.value(); + sorted_indices.reserve(path_candidates_all.size()); + + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; + } + for (size_t i = 0; i < path_candidates_all.size(); ++i) { + const auto & path = path_candidates_all[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_indices.push_back(i); + } + } + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(planner_data->dynamic_object), *(planner_data->route_handler), parameters_, + planner_data->parameters.vehicle_width); + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters_.th_moving_object_velocity); + sortPullOverPaths( + planner_data, parameters_, path_candidates_all, goal_candidates, static_target_objects, + getLogger(), sorted_indices); + + const auto clip_size = std::min(path_candidates_all.size(), 100); + // take upto 100 elements + sorted_indices.resize(clip_size); + for (const auto sorted_index : sorted_indices) { + path_candidates.push_back(path_candidates_all[sorted_index]); + } + sorted_indices.clear(); + // now path_candidates are sorted from 0 to 100 + for (unsigned i = 0; i < clip_size; ++i) { + sorted_indices.push_back(i); + } + + std::stable_sort( + std::execution::par, sorted_indices.begin(), sorted_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = path_candidates[a_i]; + const auto & b = path_candidates[b_i]; + return a.parking_path_curvature_total_derivative() < + b.parking_path_curvature_total_derivative(); + }); + + double min_start_arc_length = std::numeric_limits::infinity(); + for (const auto & bezier_pull_over_path : path_candidates) { + const double start_arc_length = + lanelet::utils::getArcCoordinates(current_lanelets, bezier_pull_over_path.start_pose()) + .length; + if (start_arc_length < min_start_arc_length) { + min_start_arc_length = start_arc_length; + closest_start_pose = bezier_pull_over_path.start_pose(); + } } } @@ -471,7 +592,7 @@ void FreespaceParkingPlanner::onTimer() } // end of critical section if (!local_request_opt) { - RCLCPP_ERROR(logger_, "main thread has not yet set request for FreespaceParkingPlanner"); + RCLCPP_DEBUG(logger_, "main thread has not yet set request for FreespaceParkingPlanner"); return; } const auto & local_request = local_request_opt.value(); @@ -502,24 +623,9 @@ void FreespaceParkingPlanner::onTimer() return; } - const double vehicle_width = local_planner_data->parameters.vehicle_width; - const bool left_side_parking = parameters.parking_policy == ParkingPolicy::LEFT_SIDE; - const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *(local_planner_data->route_handler), left_side_parking, parameters.backward_goal_search_length, - parameters.forward_goal_search_length); - const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( - pull_over_lanes, left_side_parking, parameters.detection_bound_offset, - parameters.margin_from_boundary + parameters.max_lateral_offset + vehicle_width); - - PredictedObjects dynamic_target_objects{}; - for (const auto & object : local_planner_data->dynamic_object->objects) { - const auto object_polygon = universe_utils::toPolygon2d(object); - if ( - objects_extraction_polygon.has_value() && - boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { - dynamic_target_objects.objects.push_back(object); - } - } + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(local_planner_data->dynamic_object), *(local_planner_data->route_handler), parameters, + local_planner_data->parameters.vehicle_width); const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, parameters.th_moving_object_velocity); @@ -572,7 +678,7 @@ std::pair GoalPlannerModule::sync // count is affected lane_parking_request_.value().update( *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), pull_over_path, - path_decision_controller_.get_current_state()); + path_decision_controller_.get_current_state(), trigger_thread_on_approach_); // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since // behavior_path_planner::run() updates @@ -614,37 +720,31 @@ void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // extract static and dynamic objects in extraction polygon for path collision check - const auto & p = parameters_; - const auto & rh = *(planner_data_->route_handler); - const auto objects = *(planner_data_->dynamic_object); - const double vehicle_width = planner_data_->parameters.vehicle_width; - const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length); - const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( - pull_over_lanes, left_side_parking_, p->detection_bound_offset, - p->margin_from_boundary + p->max_lateral_offset + vehicle_width); - if (objects_extraction_polygon.has_value()) { - debug_data_.objects_extraction_polygon = objects_extraction_polygon.value(); - } - PredictedObjects dynamic_target_objects{}; - for (const auto & object : objects.objects) { - const auto object_polygon = universe_utils::toPolygon2d(object); - if ( - objects_extraction_polygon.has_value() && - boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { - dynamic_target_objects.objects.push_back(object); - } - } - const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( - dynamic_target_objects, p->th_moving_object_velocity); - // update goal searcher and generate goal candidates if (goal_candidates_.empty()) { goal_candidates_ = generateGoalCandidates(); } - auto [lane_parking_response, freespace_parking_response] = syncWithThreads(); + const lanelet::ConstLanelets current_lanes = + utils::getCurrentLanesFromPath(getPreviousModuleOutput().reference_path, planner_data_); + + if ( + !trigger_thread_on_approach_ && + utils::isAllowedGoalModification(planner_data_->route_handler) && + goal_planner_utils::is_goal_reachable_on_path( + current_lanes, *(planner_data_->route_handler), left_side_parking_)) { + const double self_to_goal_arc_length = utils::getSignedDistance( + planner_data_->self_odometry->pose.pose, planner_data_->route_handler->getOriginalGoalPose(), + current_lanes); + if (self_to_goal_arc_length < parameters_->pull_over_prepare_length) { + trigger_thread_on_approach_ = true; + [[maybe_unused]] const auto send_only_request = syncWithThreads(); + RCLCPP_INFO( + getLogger(), "start preparing goal candidates once for goal ahead of %f meter", + self_to_goal_arc_length); + return; + } + } if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; @@ -675,11 +775,19 @@ void GoalPlannerModule::updateData() ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); debug_data_.collision_check = collision_check_map; // update to latest state + // extract static and dynamic objects in extraction polygon for path collision check + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(planner_data_->dynamic_object), *(planner_data_->route_handler), *parameters_, + planner_data_->parameters.vehicle_width); + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters_->th_moving_object_velocity); + path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, modified_goal_pose, planner_data_, occupancy_grid_map_, is_current_safe, *parameters_, goal_searcher_, isActivated(), pull_over_path_recv, debug_data_.ego_polygons_expanded); + auto [lane_parking_response, freespace_parking_response] = syncWithThreads(); if (context_data_) { context_data_.value().update( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, @@ -687,7 +795,7 @@ void GoalPlannerModule::updateData() isStopped( odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, parameters_->th_stopped_velocity), - lane_parking_response, freespace_parking_response); + std::move(lane_parking_response), std::move(freespace_parking_response)); } else { context_data_.emplace( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, @@ -695,7 +803,7 @@ void GoalPlannerModule::updateData() isStopped( odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, parameters_->th_stopped_velocity), - lane_parking_response, freespace_parking_response); + std::move(lane_parking_response), std::move(freespace_parking_response)); } auto & ctx_data = context_data_.value(); @@ -753,39 +861,9 @@ bool GoalPlannerModule::isExecutionRequested() const // check if goal_pose is in current_lanes or neighboring road lanes const lanelet::ConstLanelets current_lanes = utils::getCurrentLanesFromPath(getPreviousModuleOutput().reference_path, planner_data_); - const auto getNeighboringLane = - [&](const lanelet::ConstLanelet & lane) -> std::optional { - return left_side_parking_ ? route_handler->getLeftLanelet(lane, false, true) - : route_handler->getRightLanelet(lane, false, true); - }; - lanelet::ConstLanelets goal_check_lanes = current_lanes; - for (const auto & lane : current_lanes) { - auto neighboring_lane = getNeighboringLane(lane); - while (neighboring_lane) { - goal_check_lanes.push_back(neighboring_lane.value()); - neighboring_lane = getNeighboringLane(neighboring_lane.value()); - } - } - const bool goal_is_in_current_segment_lanes = std::any_of( - goal_check_lanes.begin(), goal_check_lanes.end(), [&](const lanelet::ConstLanelet & lane) { - return lanelet::utils::isInLanelet(goal_pose, lane); - }); - - // check that goal is in current neighbor shoulder lane - const bool goal_is_in_current_shoulder_lanes = std::invoke([&]() { - for (const auto & lane : current_lanes) { - const auto shoulder_lane = left_side_parking_ ? route_handler->getLeftShoulderLanelet(lane) - : route_handler->getRightShoulderLanelet(lane); - if (shoulder_lane && lanelet::utils::isInLanelet(goal_pose, *shoulder_lane)) { - return true; - } - } - return false; - }); - - // if goal is not in current_lanes and current_shoulder_lanes, do not execute goal_planner, - // because goal arc coordinates cannot be calculated. - if (!goal_is_in_current_segment_lanes && !goal_is_in_current_shoulder_lanes) { + const bool is_goal_reachable = goal_planner_utils::is_goal_reachable_on_path( + current_lanes, *(planner_data_->route_handler), left_side_parking_); + if (!is_goal_reachable) { return false; } @@ -793,7 +871,7 @@ bool GoalPlannerModule::isExecutionRequested() const // 1) goal_pose is in current_lanes, plan path to the original fixed goal // 2) goal_pose is NOT in current_lanes, do not execute goal_planner if (!utils::isAllowedGoalModification(route_handler)) { - return goal_is_in_current_segment_lanes; + return is_goal_reachable; } // if goal arc coordinates can be calculated, check if goal is in request_length @@ -983,7 +1061,7 @@ void sortPullOverPaths( // Sort pull_over_path_candidates based on the order in goal_candidates std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1035,7 +1113,7 @@ void sortPullOverPaths( // sorts in descending order so the item with larger margin comes first std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1070,7 +1148,7 @@ void sortPullOverPaths( // NOTE: this is just partition sort based on curvature threshold within each sub partitions std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1091,7 +1169,7 @@ void sortPullOverPaths( // the collision check margin and curvature priority. if (parameters.path_priority == "efficient_path") { std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { // if any of following conditions are met, sort by path type priority // - both are soft margin @@ -1125,7 +1203,7 @@ void sortPullOverPaths( */ if (parameters.path_priority == "efficient_path") { std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1141,7 +1219,8 @@ void sortPullOverPaths( std::optional GoalPlannerModule::selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, + const std::optional> sorted_bezier_indices_opt) const { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1153,8 +1232,11 @@ std::optional GoalPlannerModule::selectPullOverPath( // STEP1: Filter valid paths before sorting // NOTE: Since copying pull over path takes time, it is handled by indices std::vector sorted_path_indices; - sorted_path_indices.reserve(pull_over_path_candidates.size()); - + if (!sorted_bezier_indices_opt) { + sorted_path_indices.reserve(pull_over_path_candidates.size()); + } else { + sorted_path_indices = sorted_bezier_indices_opt.value(); + } // STEP1-1: Extract paths which have safe goal // Create a map of goal_id to GoalCandidate for quick access std::unordered_map goal_candidate_map; @@ -1460,7 +1542,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ - RCLCPP_DEBUG(getLogger(), "Update pull over path candidates"); + RCLCPP_INFO(getLogger(), "Update pull over path candidates"); context_data.pull_over_path_opt = std::nullopt; context_data.last_path_update_time = std::nullopt; @@ -1474,8 +1556,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // Select a path that is as safe as possible and has a high priority. const auto & pull_over_path_candidates = context_data.lane_parking_response.pull_over_path_candidates; - const auto lane_pull_over_path_opt = - selectPullOverPath(context_data, pull_over_path_candidates, goal_candidates); + const auto lane_pull_over_path_opt = selectPullOverPath( + context_data, pull_over_path_candidates, goal_candidates, + context_data.lane_parking_response.sorted_bezier_indices_opt); // update thread_safe_data_ const auto & pull_over_path_opt = @@ -1650,12 +1733,20 @@ PathWithLaneId GoalPlannerModule::generateStopPath( return PathWithLaneId{}; } - // extend previous module path to generate reference path for stop path + // Generate reference_path to extend the previous path. + // If pull_over_path is ARC_BACKWARD, generate path to the start_pose of the pull_over_path, + // otherwise, generate path to the goal_pose. + const auto & pull_over_path_opt = context_data.pull_over_path_opt; const auto reference_path = std::invoke([&]() -> PathWithLaneId { const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); + const bool is_arc_backward = + pull_over_path_opt.has_value() && + pull_over_path_opt.value().type() == PullOverPlannerType::ARC_BACKWARD; + const Pose path_end_pose = + is_arc_backward ? pull_over_path_opt.value().start_pose() : route_handler->getGoalPose(); const double s_end = std::clamp( - lanelet::utils::getArcCoordinates(current_lanes, route_handler->getGoalPose()).length, + lanelet::utils::getArcCoordinates(current_lanes, path_end_pose).length, s_current + std::numeric_limits::epsilon(), s_current + common_parameters.forward_path_length); return route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); @@ -1685,8 +1776,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath( // difference between the outer and inner sides) // 4. feasible stop const auto stop_pose_opt = std::invoke([&]() -> std::optional { - if (context_data.pull_over_path_opt) - return std::make_optional(context_data.pull_over_path_opt.value().start_pose()); + if (pull_over_path_opt) + return std::make_optional(pull_over_path_opt.value().start_pose()); if (context_data.lane_parking_response.closest_start_pose) return context_data.lane_parking_response.closest_start_pose; return decel_pose; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 66192a00a99fa..b973cfd7ed549 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -214,12 +214,9 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / 2.0; - lanelet::ConstLanelet vehicle_front_closest_lanelet; - lanelet::utils::query::getClosestLanelet( - pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); + const auto pull_over_lanelet = lanelet::utils::combineLaneletsShape(pull_over_lanes); const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( - left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() - : vehicle_front_closest_lanelet.rightBound(), + left_side_parking_ ? pull_over_lanelet.leftBound() : pull_over_lanelet.rightBound(), autoware::universe_utils::createPoint( vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); if (!vehicle_front_pose_for_bound_opt) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index a99252c923328..aeaf6836cdba3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -139,6 +139,7 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( const std::string ns = base_ns + "pull_over."; p.pull_over_minimum_request_length = node->declare_parameter(ns + "minimum_request_length"); + p.pull_over_prepare_length = node->declare_parameter(ns + "pull_over_prepare_length"); p.pull_over_velocity = node->declare_parameter(ns + "pull_over_velocity"); p.pull_over_minimum_velocity = node->declare_parameter(ns + "pull_over_minimum_velocity"); @@ -266,6 +267,15 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( p.rrt_star_parameters.margin = node->declare_parameter(ns + "margin"); } + // bezier parking + { + const std::string ns = base_ns + "pull_over.bezier_parking."; + p.bezier_parking.pull_over_angle_threshold = + node->declare_parameter(ns + "pull_over_angle_threshold"); + p.bezier_parking.after_shift_straight_distance = + node->declare_parameter(ns + "after_shift_straight_distance"); + } + // stop condition { p.maximum_deceleration_for_stop = diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp index ec3984a6d9443..3347f2e4a6bdf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp @@ -33,8 +33,12 @@ namespace autoware::behavior_path_planner { BezierPullOver::BezierPullOver(rclcpp::Node & node, const GoalPlannerParameters & parameters) : PullOverPlannerBase(node, parameters), - lane_departure_checker_( - lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_), + lane_departure_checker_{[&]() { + auto lane_departure_checker_params = lane_departure_checker::Param{}; + lane_departure_checker_params.footprint_extra_margin = + parameters.lane_departure_check_expansion_margin; + return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_}; + }()}, left_side_parking_(parameters.parking_policy == ParkingPolicy::LEFT_SIDE) { } @@ -76,7 +80,8 @@ std::optional BezierPullOver::plan( } std::vector BezierPullOver::plans( - [[maybe_unused]] const GoalCandidate & modified_goal_pose, [[maybe_unused]] const size_t id, + [[maybe_unused]] const GoalCandidate & modified_goal_pose, + [[maybe_unused]] const size_t initial_id, [[maybe_unused]] const std::shared_ptr planner_data, [[maybe_unused]] const BehaviorModuleOutput & upstream_module_output) { @@ -101,10 +106,12 @@ std::vector BezierPullOver::plans( // find safe one from paths with different jerk std::vector paths; + auto id = initial_id; for (double lateral_jerk = min_jerk; lateral_jerk <= max_jerk; lateral_jerk += jerk_resolution) { auto pull_over_paths = generateBezierPath( modified_goal_pose, id, planner_data, upstream_module_output, road_lanes, pull_over_lanes, lateral_jerk); + id += pull_over_paths.size(); std::copy( std::make_move_iterator(pull_over_paths.begin()), std::make_move_iterator(pull_over_paths.end()), std::back_inserter(paths)); @@ -114,17 +121,20 @@ std::vector BezierPullOver::plans( } std::vector BezierPullOver::generateBezierPath( - const GoalCandidate & goal_candidate, const size_t id, + const GoalCandidate & goal_candidate, const size_t initial_id, const std::shared_ptr planner_data, const BehaviorModuleOutput & upstream_module_output, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; + const double after_shift_straight_distance = + parameters_.bezier_parking.after_shift_straight_distance; const auto & goal_pose = goal_candidate.goal_pose; // shift end pose is longitudinal offset from goal pose to improve parking angle accuracy - const Pose shift_end_pose = goal_pose; + const Pose shift_end_pose = + autoware::universe_utils::calcOffsetPose(goal_pose, -after_shift_straight_distance, 0, 0); // calculate lateral shift of previous module path terminal pose from road lane reference path const auto road_lane_reference_path_to_shift_end = utils::resamplePathWithSpline( @@ -174,21 +184,33 @@ std::vector BezierPullOver::generateBezierPath( -before_shifted_pull_over_distance); std::vector> params; - const size_t n_sample_v_init = 4; - const size_t n_sample_v_final = 4; - const size_t n_sample_acc = 3; + const size_t n_sample_v_init = 3; + const size_t n_sample_v_final = 3; + const size_t n_sample_acc = 2; for (unsigned i = 0; i <= n_sample_v_init; ++i) { for (unsigned j = 0; j <= n_sample_v_final; j++) { for (unsigned k = 0; k <= n_sample_acc; k++) { - const double v_init_coeff = i * 0.25; - const double v_final_coeff = j * 0.25; - const double acc_coeff = k * (10.0 / 3); + const double v_init_coeff = i * (1.0 / n_sample_v_init); + const double v_final_coeff = j * 0.25 / (1.0 / n_sample_v_final); + const double acc_coeff = k * (10.0 / n_sample_acc); params.emplace_back(v_init_coeff, v_final_coeff, acc_coeff); } } } + const auto drivable_lanes = + utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); + const auto & dp = planner_data->drivable_area_expansion_parameters; + const auto expanded_lanes = utils::expandLanelets( + drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + const auto combined_drivable = utils::combineDrivableLanes( + expanded_lanes, upstream_module_output.drivable_area_info.drivable_lanes); + const auto parking_lot_polygons = + lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); + std::vector bezier_paths; + auto id = initial_id; for (const auto & [v_init_coeff, v_final_coeff, acc_coeff] : params) { // set path shifter and generate shifted path PathShifter path_shifter{}; @@ -213,7 +235,7 @@ std::vector BezierPullOver::generateBezierPath( const auto from_idx = from_idx_opt.value(); const auto to_idx = to_idx_opt.value(); const auto span = static_cast( - std::max(static_cast(to_idx) - static_cast(from_idx), 0)); + std::max(static_cast(to_idx) - static_cast(from_idx) + 1, 0)); const auto reference_curvature = autoware::motion_utils::calcCurvature(processed_prev_module_path->points); const auto & from_pose = shifted_path.path.points[from_idx].point.pose; @@ -224,7 +246,10 @@ std::vector BezierPullOver::generateBezierPath( reference_curvature.at(from_idx), tf2::getYaw(from_pose.orientation)}; const autoware::sampler_common::State final{ - {to_pose.position.x, to_pose.position.y}, {0.0, 0.0}, 0.0, tf2::getYaw(to_pose.orientation)}; + {to_pose.position.x, to_pose.position.y}, + {0.0, 0.0}, + reference_curvature.at(to_idx), + tf2::getYaw(to_pose.orientation)}; // setting the initial velocity to higher gives straight forward path (the steering does not // change) const auto bezier_path = @@ -237,10 +262,20 @@ std::vector BezierPullOver::generateBezierPath( p.point.pose.orientation = universe_utils::createQuaternionFromRPY(0.0, 0.0, bezier_points[i].z()); } + + // interpolate between shift end pose to goal pose + for (const auto & toward_goal_straight_pose : + utils::interpolatePose(shift_end_pose, goal_pose, 0.5)) { + PathPointWithLaneId p = shifted_path.path.points.back(); + p.point.pose = toward_goal_straight_pose; + shifted_path.path.points.push_back(p); + } + shifted_path.path.points = autoware::motion_utils::removeOverlapPoints(shifted_path.path.points); - - autoware::motion_utils::insertOrientation(shifted_path.path.points, true); + /* insertOrientation erases original goal pose, so not used + autoware::motion_utils::insertOrientation(shifted_path.path.points, true); + */ // combine road lanes and shoulder lanes to find closest lanelet id const auto lanes = std::invoke([&]() -> lanelet::ConstLanelets { @@ -289,11 +324,9 @@ std::vector BezierPullOver::generateBezierPath( // check if the parking path will leave drivable area and lanes const bool is_in_parking_lots = std::invoke([&]() -> bool { - const auto & p = planner_data->parameters; - const auto parking_lot_polygons = - lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); const auto path_footprints = goal_planner_utils::createPathFootPrints( - pull_over_path.parking_path(), p.base_link2front, p.base_link2rear, p.vehicle_width); + pull_over_path.parking_path(), planner_data->parameters.base_link2front, + planner_data->parameters.base_link2rear, planner_data->parameters.vehicle_width); const auto is_footprint_in_any_polygon = [&parking_lot_polygons](const auto & footprint) { return std::any_of( parking_lot_polygons.begin(), parking_lot_polygons.end(), @@ -309,14 +342,6 @@ std::vector BezierPullOver::generateBezierPath( }); }); const bool is_in_lanes = std::invoke([&]() -> bool { - const auto drivable_lanes = - utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); - const auto & dp = planner_data->drivable_area_expansion_parameters; - const auto expanded_lanes = utils::expandLanelets( - drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - const auto combined_drivable = utils::combineDrivableLanes( - expanded_lanes, upstream_module_output.drivable_area_info.drivable_lanes); return !lane_departure_checker_.checkPathWillLeaveLane( utils::transformToLanelets(combined_drivable), pull_over_path.parking_path()); }); @@ -324,6 +349,7 @@ std::vector BezierPullOver::generateBezierPath( continue; } bezier_paths.push_back(std::move(pull_over_path)); + id++; } return bezier_paths; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp index 31d8afffbdabe..acb6ee1926a83 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp @@ -13,7 +13,9 @@ // limitations under the License. #include +#include +#include #include #include @@ -78,11 +80,24 @@ std::optional PullOverPath::create( std::tie(full_path_curvatures, full_path_max_curvature) = calculateCurvaturesAndMax(full_path); std::tie(parking_path_curvatures, parking_path_max_curvature) = calculateCurvaturesAndMax(parking_path); + const double parking_path_curvature_total_derivative = [&]() { + const auto parking_path_curvature_base = autoware::motion_utils::calcSignedArcLengthPartialSum( + parking_path.points, 1, parking_path.points.size() - 1); + const auto size = std::min(parking_path_curvatures.size(), parking_path_curvature_base.size()); + double total_abs_kappa_diff = 0; + for (unsigned i = 0; i + 1 < size; ++i) { + total_abs_kappa_diff += std::fabs( + (parking_path_curvatures.at(i + 1) - parking_path_curvatures.at(i)) / + (parking_path_curvature_base.at(i + 1) - parking_path_curvature_base.at(i))); + } + return total_abs_kappa_diff; + }(); return PullOverPath( type, id, start_pose, modified_goal_pose, partial_paths, full_path, parking_path, full_path_curvatures, parking_path_curvatures, full_path_max_curvature, - parking_path_max_curvature, pairs_terminal_velocity_and_accel); + parking_path_max_curvature, parking_path_curvature_total_derivative, + pairs_terminal_velocity_and_accel); } PullOverPath::PullOverPath(const PullOverPath & other) @@ -108,7 +123,7 @@ PullOverPath::PullOverPath( const PathWithLaneId & full_path, const PathWithLaneId & parking_path, const std::vector & full_path_curvatures, const std::vector & parking_path_curvatures, const double full_path_max_curvature, - const double parking_path_max_curvature, + const double parking_path_max_curvature, const double parking_path_curvature_total_derivative, const std::vector> & pairs_terminal_velocity_and_accel) : type_(type), modified_goal_pose_(modified_goal_pose), @@ -121,6 +136,7 @@ PullOverPath::PullOverPath( parking_path_curvatures_(parking_path_curvatures), full_path_max_curvature_(full_path_max_curvature), parking_path_max_curvature_(parking_path_max_curvature), + parking_path_curvature_total_derivative_(parking_path_curvature_total_derivative), path_idx_(0), pairs_terminal_velocity_and_accel_(pairs_terminal_velocity_and_accel) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp index 89458c199c130..c334fec7a1bd9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp @@ -22,7 +22,8 @@ namespace autoware::behavior_path_planner void LaneParkingRequest::update( const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & upstream_module_output, - const std::optional & pull_over_path, const PathDecisionState & prev_data) + const std::optional & pull_over_path, const PathDecisionState & prev_data, + const bool trigger_thread_on_approach) { planner_data_ = std::make_shared(planner_data); planner_data_->route_handler = std::make_shared(*(planner_data.route_handler)); @@ -30,6 +31,7 @@ void LaneParkingRequest::update( upstream_module_output_ = upstream_module_output; pull_over_path_ = pull_over_path; prev_data_ = prev_data; + trigger_thread_on_approach_ = trigger_thread_on_approach; } void FreespaceParkingRequest::initializeOccupancyGridMap( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index a2a64fc700676..fb39a34c9ac91 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -831,4 +831,69 @@ std::optional calcClosestPose( return closest_pose; } +autoware_perception_msgs::msg::PredictedObjects extract_dynamic_objects( + const autoware_perception_msgs::msg::PredictedObjects & original_objects, + const route_handler::RouteHandler & route_handler, const GoalPlannerParameters & parameters, + const double vehicle_width) +{ + const bool left_side_parking = parameters.parking_policy == ParkingPolicy::LEFT_SIDE; + const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( + route_handler, left_side_parking, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( + pull_over_lanes, left_side_parking, parameters.detection_bound_offset, + parameters.margin_from_boundary + parameters.max_lateral_offset + vehicle_width); + + PredictedObjects dynamic_target_objects{}; + for (const auto & object : original_objects.objects) { + const auto object_polygon = universe_utils::toPolygon2d(object); + if ( + objects_extraction_polygon.has_value() && + boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { + dynamic_target_objects.objects.push_back(object); + } + } + return dynamic_target_objects; +} + +bool is_goal_reachable_on_path( + const lanelet::ConstLanelets current_lanes, const route_handler::RouteHandler & route_handler, + const bool left_side_parking) +{ + const Pose goal_pose = route_handler.getOriginalGoalPose(); + const auto getNeighboringLane = + [&](const lanelet::ConstLanelet & lane) -> std::optional { + return left_side_parking ? route_handler.getLeftLanelet(lane, false, true) + : route_handler.getRightLanelet(lane, false, true); + }; + lanelet::ConstLanelets goal_check_lanes = current_lanes; + for (const auto & lane : current_lanes) { + auto neighboring_lane = getNeighboringLane(lane); + while (neighboring_lane) { + goal_check_lanes.push_back(neighboring_lane.value()); + neighboring_lane = getNeighboringLane(neighboring_lane.value()); + } + } + const bool goal_is_in_current_segment_lanes = std::any_of( + goal_check_lanes.begin(), goal_check_lanes.end(), [&](const lanelet::ConstLanelet & lane) { + return lanelet::utils::isInLanelet(goal_pose, lane); + }); + + // check that goal is in current neighbor shoulder lane + const bool goal_is_in_current_shoulder_lanes = std::invoke([&]() { + for (const auto & lane : current_lanes) { + const auto shoulder_lane = left_side_parking ? route_handler.getLeftShoulderLanelet(lane) + : route_handler.getRightShoulderLanelet(lane); + if (shoulder_lane && lanelet::utils::isInLanelet(goal_pose, *shoulder_lane)) { + return true; + } + } + return false; + }); + + // if goal is not in current_lanes and current_shoulder_lanes, do not execute goal_planner, + // because goal arc coordinates cannot be calculated. + return goal_is_in_current_segment_lanes || goal_is_in_current_shoulder_lanes; +} + } // namespace autoware::behavior_path_planner::goal_planner_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index 42f6ddf841fec..92affbcfac9cc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -2,6 +2,219 @@ Changelog for package autoware_behavior_path_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* docs(lane_change): update lane change documentation (`#9949 `_) + * update lane change requirements documentation + * remove unused function getNumToPreferredLane + * update candidate path generation documentation + * update prepare phase and lane changing phase documentation + * update longitudinal acceleration sampling documentation + * add prepare duration sampling documentation + * update candidate path validity and safety documentation + * fix formatting + * update image and fix formatting + * add overtaking turn lane documentation + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * add LC global flowchart to documentation + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * reorganize lane change documentation + * fix section title + * add global flowchart description + * add warning + * apply pre-commit checks + * fix spelling + * edit some descriptions + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* docs(lane_change): object filtering description (`#9947 `_) + * docs(lane_change): object filtering description + * Move section up + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* refactor(lane_change): add missing safety check parameter (`#9928 `_) + * refactor(lane_change): parameterize incoming object yaw threshold + * Readme + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Add missing parameters + * missing dot + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * update readme + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(lane_change): ensure path generation doesn't exceed time limit (`#9908 `_) + * add time limit for lane change candidate path generation + * apply time limit for frenet method as well + * ensure param update value is valid + * fix param update initial value + * fix spelling + * fix param update initial values + --------- +* feat(lane_change_module): add update paramter function for non defined paramters (`#9887 `_) + * feat(lane_change_module): add new parameters for collision check and delay lane change functionality + * feat(lane_change_module): add validation for longitudinal and lateral acceleration sampling parameters + * feat(lane_change): update parameter handling and add lateral acceleration mapping + --------- +* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) + * frenet planner + * minor refactoring + * adding parameter + * Add diff th param + * limit curvature for prepare segment + * minor refactoring + * print average curvature + * refactor + * filter the path directly + * fix some conflicts + * include curvature smoothing + * document + * fix image folder + * image size + * doxygen + * add debug for state + * use sign function instead + * rename argument + * readme + * fix failed test due to empty value + * add additional note + * fix conflict + --------- +* feat(lane_change): append candidate path index to metric debug table (`#9885 `_) + add candidate path index to metrics debug table +* docs(lane_change): fix broken link (`#9892 `_) +* docs(lane_change): explaining cancel and abort process (`#9845 `_) + * docs(lane_change): explaining cancel and abort process + * slight fix in formatting + * rephrase sentence + * rephrase and replace image for cancel + * Cancel explanations and limitations + * revise abort figure + * revise flow chart + * rephase sentence + * minor fix + * finish up + * offers change to reduces for negative connotation + * minor fix + * move limitation all the way down + * precommit + * equation mistake + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * rename subheading + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* refactor(lane_change): refactor transit failure function (`#9835 `_) + * refactor(lane_change): refactor transit failure function + * fixed failed scenario + * remove is abort from debug + * set is abort state + * add comments for clarity + * include what you use. + --------- +* feat(lane_change): implement terminal lane change feature (`#9592 `_) + * implement function to compute terminal lane change path + * push terminal path to candidate paths if no other valid candidate path is found + * use terminal path in LC interface planWaitingApproval function + * set lane changing longitudinal accel to zero for terminal lc path + * rename function + * chore: rename codeowners file + * remove unused member variable prev_approved_path\_ + * refactor stop point insertion for terminal lc path + * add flag to enable/disable terminal path feature + * update README + * add parameter to configure stop point placement + * compute terminal path only when near terminal start + * add option to disable feature near goal + * set default flag value to false + * add documentation for terminal lane change path + * ensure actual prepare duration is always above minimum prepare duration threshold + * explicitly return std::nullopt + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * fix assignment + * fix spelling + * fix merge errors + --------- + Co-authored-by: tomoya.kimura + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* feat(lane_change): add text display for candidate path sampling metrics (`#9810 `_) + * display candidate path sampling metrics on rviz + * rename struct + --------- +* feat(lane_change): revise current lane objects filtering (`#9785 `_) + * consider stopped front objects + * simplify computation of dist to front current lane object + * add flag to enable/disable keeping distance from front stopped vehicle + * fix object filtering test + --------- +* refactor(lane_change): replace sstream to fmt for marker's text (`#9775 `_) +* feat(lane_change): add info text to virtual wall (`#9783 `_) + * specify reason for lane change stop line + * add stop reason for incoming rear object + --------- +* fix(lane_change): add metrics to valid paths visualization (`#9737 `_) + * fix(lane_change): add metrics to valid paths visualization + * fix cpp-check error + --------- +* refactor(lane_change): separate path-related function to utils/path (`#9633 `_) + * refactor(lane_change): separate path-related function to utils/path + * remove old terminal lane change computation + * doxygen comments + * remove frenet planner header + * minor refactoring by throwing instead + * minor refactoring + * fix docstring and remove redundant argument + * get logger in header + * add docstring + * rename function is_colliding + * Fix failing test + * fix for failing scenario caused by prepare velocity + * fix error message + --------- +* fix(lane_change): fix prepare length too short at low speed (RT1-8909) (`#9735 `_) + fix prepare length too short at low speed (RT1-8909) +* refactor(lane_change): separate structs to different folders (`#9625 `_) +* fix(lane_change): remove overlapping preceding lanes (`#9526 `_) + * fix(lane_change): remove overlapping preceding lanes + * fix cpp check + * start searching disconnected lanes directly + * just remove starting from overlapped found + * return non reversed lanes + * fix precommit + --------- +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Takayuki Murooka, Zulfaqar Azmi, mkquda + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index cf7600556080e..40fd6fc4c572d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.40.0 + 0.41.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index 654a5b4ed0d87..ce092fbe73c79 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -2,6 +2,61 @@ Changelog for package autoware_behavior_path_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) + visualize planner evaluation table in rviz +* feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset (`#9967 `_) + * feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset + * fix + --------- +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(planning): text revisions (`#9886 `_) + * fix(planning): text revisions + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* docs(bpp): revise explanation for Failure modules (`#9863 `_) +* feat(behavior_path_planner): use autoware internal stamped messages (`#9750 `_) + * feat(behavior_path_planner): use autoware internal stamped messages + * fix universe_utils + --------- +* Contributors: Atto Armoo, Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Zulfaqar Azmi + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index ba3d3d5d7a4d4..d88c93712b1e3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -17,6 +17,7 @@ #include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" +#include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "planner_manager.hpp" @@ -72,6 +73,7 @@ using tier4_planning_msgs::msg::RerouteAvailability; using tier4_planning_msgs::msg::Scenario; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; +using DebugPublisher = autoware::universe_utils::DebugPublisher; class BehaviorPathPlannerNode : public rclcpp::Node { @@ -186,6 +188,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node // debug rclcpp::Publisher::SharedPtr debug_avoidance_msg_array_publisher_; rclcpp::Publisher::SharedPtr debug_turn_signal_info_publisher_; + std::unique_ptr debug_start_planner_evaluation_table_publisher_ptr_; /** * @brief publish reroute availability diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 3f41ebe74c86d..3b5b28101ff3a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.40.0 + 0.41.0 The behavior_path_planner package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index 568d432e1faa3..38c5aa0085fb9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -30,6 +31,7 @@ namespace autoware::behavior_path_planner { using autoware::vehicle_info_utils::VehicleInfoUtils; using tier4_planning_msgs::msg::PathChangeModuleId; +using DebugStringMsg = autoware_internal_debug_msgs::msg::StringStamped; BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & node_options) : Node("behavior_path_planner", node_options), @@ -55,9 +57,13 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod create_publisher("~/output/modified_goal", durable_qos); reroute_availability_publisher_ = create_publisher("~/output/is_reroute_available", 1); + debug_avoidance_msg_array_publisher_ = create_publisher("~/debug/avoidance_debug_message_array", 1); + debug_start_planner_evaluation_table_publisher_ptr_ = + std::make_unique(this, "~/debug/start_planner_evaluation_table"); + debug_turn_signal_info_publisher_ = create_publisher("~/debug/turn_signal_info", 1); bound_publisher_ = create_publisher("~/debug/bound", 1); @@ -608,6 +614,11 @@ void BehaviorPathPlannerNode::publishSceneModuleDebugMsg( if (avoidance_debug_message) { debug_avoidance_msg_array_publisher_->publish(*avoidance_debug_message); } + const auto start_planner_debug_message = debug_messages_data_ptr->getStartPlannerModuleDebugMsg(); + if (start_planner_debug_message) { + debug_start_planner_evaluation_table_publisher_ptr_->publish( + "start_planner_evaluation_table", *(start_planner_debug_message)); + } } void BehaviorPathPlannerNode::publishPathCandidate( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index 6c72ac310e31f..d20daf5d2a0c6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_behavior_path_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) + visualize planner evaluation table in rviz +* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) + * feat(safety_check): convert to SafetyFactor + * feat(static_obstacle_avoidance): use safety factor + * fix(bpp): output detail + --------- +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(autoware_behavior_path_planner_common): fix bugprone-errors (`#9700 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Satoshi OTA, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp index e2d5d276070ee..f3921e4778593 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_VISITOR_HPP_ #include "tier4_planning_msgs/msg/detail/avoidance_debug_msg_array__struct.hpp" +#include #include namespace autoware::behavior_path_planner @@ -31,16 +32,20 @@ class SideShiftModule; using tier4_planning_msgs::msg::AvoidanceDebugMsg; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; +using DebugStringMsg = autoware_internal_debug_msgs::msg::StringStamped; class SceneModuleVisitor { public: void visitAvoidanceModule(const StaticObstacleAvoidanceModule * module) const; + void visitStartPlannerModule(const StartPlannerModule * module) const; std::shared_ptr getAvoidanceModuleDebugMsg() const; + std::shared_ptr getStartPlannerModuleDebugMsg() const; protected: mutable std::shared_ptr avoidance_visitor_; + mutable std::shared_ptr start_planner_visitor_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index 22237a5a1d3a4..0a3d919ead23b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.40.0 + 0.41.0 The autoware_behavior_path_planner_common package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp index e6ccfc74866c4..45c4f17c32698 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp @@ -24,4 +24,10 @@ std::shared_ptr SceneModuleVisitor::getAvoidanceModuleDe { return avoidance_visitor_; } + +std::shared_ptr SceneModuleVisitor::getStartPlannerModuleDebugMsg() const +{ + return start_planner_visitor_; +} + } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index 73fd1b4c7532a..1efdc5df429c1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_behavior_path_sampling_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* Contributors: Fumiya Watanabe, Mamoru Sobue + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index a5d78061448ed..d91c9d4c45138 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.40.0 + 0.41.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index 6ed62ffc8b913..e0f4874c5e986 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_behavior_path_side_shift_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 9bc2b608381fa..5b40fe1d74169 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.40.0 + 0.41.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index 0cb96bc9b3bf4..dd4bcb5f51f29 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_behavior_path_start_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) + visualize planner evaluation table in rviz +* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* test(start_planner): disable GenerateValidFreespacePullOutPath test (`#9937 `_) +* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) + * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners + * refactor(autoware_behavior_path_start_planner_module): remove TimeKeeper parameter from pull-out planners + * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling + * refactor(planner): add planner_data parameter to plan methods in pull out planners + * refactor(autoware_behavior_path_start_planner_module): remove LaneDepartureChecker dependency from pull-out planners + --------- +* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) + * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling + --------- +* refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners (`#9827 `_) + * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners + --------- +* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) +* test(autoware_behavior_path_start_planner_module): add unit tests for shift shift pull out planner (`#9776 `_) + feat(behavior_path_planner): add unit tests for ShiftPullOut path planning +* refactor(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters (`#9736 `_) + feat(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters +* test(autoware_behavior_path_start_planner_module): add unit tests for geometric shift pull out planner (`#9640 `_) + * feat(behavior_path_planner): add unit tests for geometric pull-out planner and improve collision check + * feat(behavior_path_planner): add boolean parameter for divide_pull_out_path and update tests + --------- +* Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp index 5d8331318484d..4a2ca54e7d38c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp @@ -26,7 +26,6 @@ #include #include - namespace autoware::behavior_path_planner { @@ -51,29 +50,34 @@ struct PlannerDebugData { public: PlannerType planner_type; - std::vector conditions_evaluation; - double required_margin{0.0}; double backward_distance{0.0}; + double required_margin{0.0}; + std::vector conditions_evaluation; - auto header_str() const + static std::string double_to_str(double value, int precision = 1) { - std::stringstream ss; - ss << std::left << std::setw(20) << "| Planner type " << std::setw(20) << "| Required margin " - << std::setw(20) << "| Backward distance " << std::setw(25) << "| Condition evaluation |" - << "\n"; - return ss.str(); + std::ostringstream oss; + oss << std::fixed << std::setprecision(precision) << value; + return oss.str(); } - auto str() const + static std::string to_planner_type_name(PlannerType pt) { - std::stringstream ss; - for (const auto & result : conditions_evaluation) { - ss << std::left << std::setw(23) << magic_enum::enum_name(planner_type) << std::setw(23) - << (std::to_string(required_margin) + "[m]") << std::setw(23) - << (std::to_string(backward_distance) + "[m]") << std::setw(25) << result << "\n"; + // Adding whitespace for column width alignment in RViz display + switch (pt) { + case PlannerType::NONE: + return "NONE "; + case PlannerType::SHIFT: + return "SHIFT "; + case PlannerType::GEOMETRIC: + return "GEOMETRIC "; + case PlannerType::STOP: + return "STOP "; + case PlannerType::FREESPACE: + return "FREESPACE "; + default: + return "UNKNOWN"; } - ss << std::setw(40); - return ss.str(); } }; struct StartPlannerDebugData diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index 9b1186cb5fc66..3978738798386 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -26,10 +26,12 @@ #include "autoware/behavior_path_start_planner_module/geometric_pull_out.hpp" #include "autoware/behavior_path_start_planner_module/pull_out_path.hpp" #include "autoware/behavior_path_start_planner_module/shift_pull_out.hpp" +#include "data_structs.hpp" #include #include +#include #include #include @@ -52,6 +54,7 @@ using autoware::behavior_path_planner::utils::path_safety_checker::SafetyCheckPa using autoware::behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane; using geometry_msgs::msg::PoseArray; using PriorityOrder = std::vector>>; +using DebugStringMsg = autoware_internal_debug_msgs::msg::StringStamped; struct PullOutStatus { @@ -146,16 +149,16 @@ class StartPlannerModule : public SceneModuleInterface } void resetStatus(); - void acceptVisitor( - [[maybe_unused]] const std::shared_ptr & visitor) const override - { - } + void acceptVisitor(const std::shared_ptr & visitor) const override; // Condition to disable simultaneous execution bool isDrivingForward() const { return status_.driving_forward; } bool isFreespacePlanning() const { return status_.planner_type == PlannerType::FREESPACE; } + std::string get_planner_evaluation_table() const { return planner_evaluation_table_; } + private: + friend class SceneModuleVisitor; struct StartPlannerData { StartPlannerParameters parameters; @@ -283,6 +286,7 @@ ego pose. std::vector> start_planners_; PullOutStatus status_; mutable StartPlannerDebugData debug_data_; + std::string planner_evaluation_table_; // Keeps track of lanelets that should be ignored when calculating the turnSignalInfo for this // module's output. If the ego vehicle is in this lanelet, the calculation is skipped. @@ -352,6 +356,10 @@ ego pose. const StartPlannerParameters & parameters, const std::shared_ptr & planner_data, const PullOutStatus & pull_out_status); + std::string create_planner_evaluation_table( + const std::vector & planner_debug_data_vector) const; + void set_planner_evaluation_table(const std::vector & debug_data_vector); + void setDebugData(); void logPullOutStatus(rclcpp::Logger::Level log_level = rclcpp::Logger::Level::Info) const; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 214731f96cebc..c31707a413c6a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.40.0 + 0.41.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index ae05bcf4c084e..5ad519af20cad 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -894,16 +894,6 @@ void StartPlannerModule::planWithPriority( if (start_pose_candidates.empty()) return; - auto get_accumulated_debug_stream = [](const std::vector & debug_data_vector) { - std::stringstream ss; - if (debug_data_vector.empty()) return ss; - ss << debug_data_vector.front().header_str(); - for (const auto & debug_data : debug_data_vector) { - ss << debug_data.str(); - } - return ss; - }; - const PriorityOrder order_priority = determinePriorityOrder(search_priority, start_pose_candidates.size()); @@ -918,20 +908,13 @@ void StartPlannerModule::planWithPriority( collision_check_margin, debug_data_vector)) { debug_data_.selected_start_pose_candidate_index = index; debug_data_.margin_for_start_pose_candidate = collision_check_margin; - if (parameters_->print_debug_info) { - const auto ss = get_accumulated_debug_stream(debug_data_vector); - DEBUG_PRINT("\nPull out path search results:\n%s", ss.str().c_str()); - } + set_planner_evaluation_table(debug_data_vector); return; } } } } - - if (parameters_->print_debug_info) { - const auto ss = get_accumulated_debug_stream(debug_data_vector); - DEBUG_PRINT("\nPull out path search results:\n%s", ss.str().c_str()); - } + set_planner_evaluation_table(debug_data_vector); updateStatusIfNoSafePathFound(); } @@ -973,7 +956,7 @@ bool StartPlannerModule::findPullOutPath( planner->setCollisionCheckMargin(collision_check_margin); PlannerDebugData debug_data{ - planner->getPlannerType(), {}, collision_check_margin, backwards_distance}; + planner->getPlannerType(), backwards_distance, collision_check_margin, {}}; const auto pull_out_path = planner->plan(start_pose_candidate, goal_pose, planner_data_, debug_data); @@ -1580,12 +1563,9 @@ std::optional StartPlannerModule::planFreespacePath( for (const auto & p : center_line_path.points) { const Pose end_pose = p.point.pose; - PlannerDebugData debug_data{freespace_planner_->getPlannerType(), {}, 0.0, 0.0}; + PlannerDebugData debug_data{freespace_planner_->getPlannerType(), 0.0, 0.0, {}}; auto freespace_path = freespace_planner_->plan(current_pose, end_pose, planner_data, debug_data); - DEBUG_PRINT( - "\nFreespace Pull out path search results\n%s%s", debug_data.header_str().c_str(), - debug_data.str().c_str()); if (!freespace_path) { continue; } @@ -1628,6 +1608,83 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons } } +std::string StartPlannerModule::create_planner_evaluation_table( + const std::vector & planner_debug_data_vector) const +{ + if (planner_debug_data_vector.empty()) { + return ""; + } + + const std::string header_planner_type = "Planner type "; + const std::string header_required_margin = "Required margin [m]"; + const std::string header_backward_distance = "Backward distance [m]"; + const std::string header_condition_eval = "Condition"; + + std::ostringstream oss; + oss << "-----------------------------------------------------------------------------------------" + "----------------" + << "\n"; + oss << "| " << std::left << header_planner_type << " | " << header_required_margin << " | " + << header_backward_distance << " | " << header_condition_eval << " \n"; + oss << "-----------------------------------------------------------------------------------------" + "----------------" + << "\n"; + + for (const auto & d : planner_debug_data_vector) { + const std::string pt_str = PlannerDebugData::to_planner_type_name(d.planner_type); + const std::string rm_str = + PlannerDebugData::double_to_str(d.required_margin, 1) + " "; + const std::string bd_str = PlannerDebugData::double_to_str(d.backward_distance, 1) + + " "; + + if (d.conditions_evaluation.empty()) { + oss << "| " << std::left << pt_str << " | " << rm_str << " | " << bd_str << " | " + << "Unexpected empty condition evaluation" + << " \n"; + } else { + for (size_t i = 0; i < d.conditions_evaluation.size(); ++i) { + const std::string cond_with_index = + "#" + std::to_string(i + 1) + ": " + d.conditions_evaluation[i]; + + oss << "| " << std::left << pt_str << " | " << rm_str << " | " << bd_str << " | " + << cond_with_index << " \n"; + } + } + } + + return oss.str(); +} + +void StartPlannerModule::set_planner_evaluation_table( + const std::vector & debug_data_vector) +{ + planner_evaluation_table_.clear(); + if (debug_data_vector.empty()) { + return; + } + + planner_evaluation_table_ = create_planner_evaluation_table(debug_data_vector); +} + +void StartPlannerModule::acceptVisitor(const std::shared_ptr & visitor) const +{ + if (visitor) { + visitor->visitStartPlannerModule(this); + } +} + +void SceneModuleVisitor::visitStartPlannerModule(const StartPlannerModule * module) const +{ + auto debug_msg = std::make_shared(); + auto debug_info = module->get_planner_evaluation_table(); + if (debug_info.empty()) return; + + debug_msg->stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); + debug_msg->data = debug_info; + + start_planner_visitor_ = debug_msg; +} + void StartPlannerModule::setDebugData() { using autoware::universe_utils::createDefaultMarker; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index e162c187de824..fc252da9c1880 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,29 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) + * feat(safety_check): convert to SafetyFactor + * feat(static_obstacle_avoidance): use safety factor + * fix(bpp): output detail + --------- +* refactor(behavior_path_planner): common test functions (`#9963 `_) + * feat: common test code in behavior_path_planner + * deal with other modules + * fix typo + * update + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(static_avoidance): add optional check (`#9782 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix bugprone-branch-clone (`#9701 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Zulfaqar Azmi, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 5446e33073b13..e9cb603b5d69c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.40.0 + 0.41.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index 0826b1f8193a6..4fe378098ee17 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -2,6 +2,59 @@ Changelog for package autoware_behavior_velocity_blind_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* test(blind_spot): add unit tests for util functions (`#9597 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index dabd3045b31d2..8c2f96728abc1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_blind_spot_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index 608d6ab37fdc4..11f4bbb2b0a6c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -2,6 +2,69 @@ Changelog for package autoware_behavior_velocity_crosswalk_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* docs(crosswalk): fix file add miss (`#10028 `_) +* docs(crosswalk): update ttc vs ttv docs (`#10025 `_) +* feat(crosswalk): update judgle time against the stopped objects (`#9988 `_) +* chore(crosswalk): port the same direction ignore block (`#9983 `_) +* feat(crosswalk): add pass marker (`#9952 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix: remove unnecessary parameters (`#9935 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) + * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs + * fix + --------- +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md index 857f590104aea..52e8c5b2a24a9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md @@ -138,27 +138,24 @@ The decision is based on the following variables, along with the calculation of We classify ego behavior at crosswalks into three categories according to the relative relationship between TTC and TTV [1]. -- A. **TTC >> TTV**: The object has enough time to cross before the ego. +- A. **TTC >> TTV**: The object will pass early enough than the ego reach the collision point. - No stop planning. - B. **TTC ≒ TTV**: There is a risk of collision. - **Stop point is inserted in the ego's path**. -- C. **TTC << TTV**: Ego has enough time to cross before the object. +- C. **TTC << TTV**: The ego will pass early enough than the object reach the collision point. - No stop planning. +The following figure shows the decision result for each TTC and TTV with the parameters, `ego_pass_first_margin_x` is `{0}`, `ego_pass_first_margin_y` is `{4}`, `ego_pass_later_margin_x` is `{0}`, and `ego_pass_later_margin_y` is `{13}`. +
- +
-The boundary of A and B is interpolated from `ego_pass_later_margin_x` and `ego_pass_later_margin_y`. -In the case of the upper figure, `ego_pass_later_margin_x` is `{0, 1, 2}` and `ego_pass_later_margin_y` is `{1, 4, 6}`. -In the same way, the boundary of B and C is calculated from `ego_pass_first_margin_x` and `ego_pass_first_margin_y`. -In the case of the upper figure, `ego_pass_first_margin_x` is `{3, 5}` and `ego_pass_first_margin_y` is `{0, 1}`. - If the red signal is indicating to the corresponding crosswalk, the ego do not yield against the pedestrians.
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b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -2,6 +2,67 @@ Changelog for package autoware_behavior_velocity_detection_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* feat(behavior_velocity_detection_area): use base class without RTC (`#9802 `_) + * feat(behavior_velocity_detection_area): use base class without RTC + * fix + * fix + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index 4ae1d20991078..aff8d6238f4fb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index 013fd3b9b54cb..390c1c065d632 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -2,6 +2,70 @@ Changelog for package autoware_behavior_velocity_intersection_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(intersection): add wall marker for too late detect objects (`#10006 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* fix(autoware_behavior_velocity_intersection_module): fix bugprone-branch-clone (`#9702 `_) + fix: bugprone-error +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) + * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs + * fix + --------- +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index 4f7c3aeea7618..644bcbe7a3de7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index 3ad226a0a0f71..fc7e5f832e69b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index 3ac9bab0c2fdf..190583f583981 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 177028582aceb..eb26b4132216d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -2,6 +2,62 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 28677bfb80b15..b9af47f6729c9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index e74a81a6a971a..3d17b244e890a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(autoware_behavior_velocity_occlusion_spot_module): fix bugprone-macro-parentheses (`#9712 `_) + * fix: bugprone-error + * fix: fmt + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index 66cb33192fec0..c4b26150a6670 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index 43eafef522dde..5bcc3d250f51e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -2,6 +2,31 @@ Changelog for package autoware_behavior_velocity_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) + * feat: remove-virtual-traffic-light-dependency-from-plugin-manager + * build passed + * fix test + * fix test + * fix + * fix typo + --------- +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner): independent of plugin packages (`#9760 `_) +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* Contributors: Fumiya Watanabe, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index c40d80c2bf998..d68937727773f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.40.0 + 0.41.0 The autoware_behavior_velocity_planner package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index efc6fd8e18cb6..c229807e51a5d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,66 @@ Changelog for package autoware_behavior_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(behavior_velocity_planner_common): fix unregister process (`#9913 `_) +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) + * feat: remove-virtual-traffic-light-dependency-from-plugin-manager + * build passed + * fix test + * fix test + * fix + * fix typo + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) + * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs + * fix + --------- +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index bf2a9dfc5e32e..a66faa2e0a303 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.40.0 + 0.41.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..08974b37c362a --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst @@ -0,0 +1,94 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_rtc_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + +0.40.0 (2025-01-06) +------------------- + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml index 3c2a229cca95a..22935a111ffb2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_rtc_interface - 0.40.0 + 0.41.0 The autoware_behavior_velocity_rtc_interface package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index eaf93783ae47a..8edfbd4d2216d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -2,6 +2,64 @@ Changelog for package autoware_behavior_velocity_run_out_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) + * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs + * fix + --------- +* fix(autoware_behavior_velocity_run_out_module): fix bugprone-branch-clone (`#9715 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 18db8281356f8..761ebeb94419a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index f0a53b8d7124d..5c2978b1bfbc9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_behavior_velocity_speed_bump_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index 4940460ba52c1..5519b54162062 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index c24c67ff81108..ce67ba65749df 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -2,6 +2,69 @@ Changelog for package autoware_behavior_velocity_stop_line_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix: remove unnecessary parameters (`#9935 `_) +* fix(planning): corrects typo in svg (`#9814 `_) +* fix(planning): corrects typos (`#9840 `_) + * fix(planning): corrects typos + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Atto Armoo, Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 849ab3915c649..61508e0ffd9dc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_stop_line_module package Yukinari Hisaki diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 4fb540814a9f1..42d5dde3b6433 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_behavior_velocity_template_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index e808e7758bd65..8ece81460081f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 669882a37bbce..b294a6f36588f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,62 @@ Changelog for package autoware_behavior_velocity_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 4bc7a15cddc48..518d3275a28d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index 731c1967b5a1d..ca86c893f97f2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) + * feat(autoware_planning_test_manager): remove dependency of virtual traffic light + * modify obstacle_stop test code + --------- +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) + * feat(behavior_velocity_planner)!: remove velocity_factor completely + * minimize diff + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) + * feat: remove-virtual-traffic-light-dependency-from-plugin-manager + * build passed + * fix test + * fix test + * fix + * fix typo + --------- +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 056f84a970c58..3a1e0d9580ded 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index 40a8bcf82e7b9..d4f846dea7a5d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -2,6 +2,58 @@ Changelog for package autoware_behavior_velocity_walkway_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(behavior_velocity_modules): add node test (`#9790 `_) + * feat(behavior_velocity_crosswalk): add node test + * fix + * feat(behavior_velocity_xxx_module): add node test + * fix + * fix + * fix + * fix + * change directory tests -> test + --------- +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) + * split into planer_common and rtc_interface + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp + Co-authored-by: Mamoru Sobue + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp + Co-authored-by: Mamoru Sobue + * fix + --------- + Co-authored-by: Mamoru Sobue +* Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index 857d9b524beb0..4bda6bbe5826b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.40.0 + 0.41.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index 118b555408997..3d20f11b239ad 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) + * feat: new object/pointcloud struct in motion velocity planner + * update planner_data + * modify modules + * fix + --------- +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) + * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency + * fix + --------- +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index c13aedc3292ee..2e94f1d32b8b3 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.40.0 + 0.41.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index c1310671d02fa..21cf1519e61d2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): remove cppcheck suppressions (`#9843 `_) +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) + * feat: new object/pointcloud struct in motion velocity planner + * update planner_data + * modify modules + * fix + --------- +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix bugprone-exception-escape (`#9779 `_) + * fix: bugprone-error + * fix: cppcheck + * fix: cpplint + --------- +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) + * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency + * fix + --------- +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index 9d3796c041299..3b19c27807a81 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.40.0 + 0.41.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 4fe77d0532fce..e0bfb818bbe94 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_motion_velocity_out_of_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) + * chore: add new package for planning factor interface + * chore(surround_obstacle_checker): update include file + * chore(obstacle_stop_planner): update include file + * chore(obstacle_cruise_planner): update include file + * chore(motion_velocity_planner): update include file + * chore(bpp): update include file + * chore(bvp-common): update include file + * chore(blind_spot): update include file + * chore(crosswalk): update include file + * chore(detection_area): update include file + * chore(intersection): update include file + * chore(no_drivable_area): update include file + * chore(no_stopping_area): update include file + * chore(occlusion_spot): update include file + * chore(run_out): update include file + * chore(speed_bump): update include file + * chore(stop_line): update include file + * chore(template_module): update include file + * chore(traffic_light): update include file + * chore(vtl): update include file + * chore(walkway): update include file + * chore(motion_utils): remove factor interface + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) + * feat: new object/pointcloud struct in motion velocity planner + * update planner_data + * modify modules + * fix + --------- +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) + * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency + * fix + --------- +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 8e32ca0219526..d9d2209edc6ef 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.40.0 + 0.41.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst index b6f0fe9f9dd86..10917e51fe348 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_motion_velocity_planner_common_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml index 098d261210583..91d569dc3f8cc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common_universe - 0.40.0 + 0.41.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst index 1bafc41dc8f18..93a648302f213 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_motion_velocity_planner_node_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml index 43c9773ef11a3..7d9652219b656 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node_universe - 0.40.0 + 0.41.0 Node of the motion_velocity_planner Maxime Clement diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index fa7e4a3bb0808..5b202eea4e110 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_bezier_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(goal_planner): add bezier based pull over planner (`#9642 `_) +* Contributors: Fumiya Watanabe, Mamoru Sobue + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 249d64d770af5..665666a1ba7bd 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.40.0 + 0.41.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index eff4108b3fc03..ead6bb6f73a88 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_frenet_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) + * frenet planner + * minor refactoring + * adding parameter + * Add diff th param + * limit curvature for prepare segment + * minor refactoring + * print average curvature + * refactor + * filter the path directly + * fix some conflicts + * include curvature smoothing + * document + * fix image folder + * image size + * doxygen + * add debug for state + * use sign function instead + * rename argument + * readme + * fix failed test due to empty value + * add additional note + * fix conflict + --------- +* Contributors: Fumiya Watanabe, Zulfaqar Azmi + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index cd5febc3267db..8130f47a8aab3 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.40.0 + 0.41.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index a50f2a0ad3aed..1dad475fea0c7 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_path_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(sampling_based_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in sampling_based_planner (`#9916 `_) +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) + feat(motion planning): use StringStamped in autoware_internal_debug_msgs +* Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 98d0c4188ec3f..9efd0907c2727 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.40.0 + 0.41.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index 7e0eaaf4e7376..261ab51ebb10e 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_sampler_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index eb08c8125d3ee..a190c56969368 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.40.0 + 0.41.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index 92a99bc8d3267..bd0461582a882 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_cuda_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index 32a29133201ec..1e0014357be0b 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -1,7 +1,7 @@ autoware_cuda_utils - 0.40.0 + 0.41.0 cuda utility library Daisuke Nishimatsu diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 8195195c9b15c..d97f28dbe618b 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_gnss_poser ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 0a3d6391ac598..50f9a32156f85 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -2,7 +2,7 @@ autoware_gnss_poser - 0.40.0 + 0.41.0 The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index 1486e459e4754..900bdce1670cd 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_image_diagnostics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_image_diagnostics): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_image_diagnostics (`#9918 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files sensing/autoware_image_diagnostics +* fix(autoware_image_diagnostics): fix bugprone-branch-clone (`#9723 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index 3140b87e1f1b9..91edff5213f2a 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -2,7 +2,7 @@ autoware_image_diagnostics - 0.40.0 + 0.41.0 The autoware_image_diagnostics package Dai Nguyen Yoshi Ri diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index 57968c49291c0..358abdb5ba7f5 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_image_transport_decompressor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_image_transport_decompressor): fix bugprone-branch-clone (`#9724 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml index 0ee5a60b2f46e..101090e2cfaf5 100644 --- a/sensing/autoware_image_transport_decompressor/package.xml +++ b/sensing/autoware_image_transport_decompressor/package.xml @@ -2,7 +2,7 @@ autoware_image_transport_decompressor - 0.40.0 + 0.41.0 The image_transport_decompressor package Yukihiro Saito Kenzo Lobos-Tsunekawa diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index fe36ee24880e0..79a35f67a3daf 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_imu_corrector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(imu_corrector): remove non-periodic publish to /diagnostics topic (`#9951 `_) + fix(imu_corrector): remove force_update() in timer callback + Co-authored-by: Takahisa.Ishikawa +* Contributors: Fumiya Watanabe, interimadd + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml index 94a2e3fe83071..c4938585b9275 100644 --- a/sensing/autoware_imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -2,7 +2,7 @@ autoware_imu_corrector - 0.40.0 + 0.41.0 The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index 56c9f0bdff0dc..abf97d3a3ef80 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_pcl_extensions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml index 840bd976b5b5f..61e76007e2927 100644 --- a/sensing/autoware_pcl_extensions/package.xml +++ b/sensing/autoware_pcl_extensions/package.xml @@ -2,7 +2,7 @@ autoware_pcl_extensions - 0.40.0 + 0.41.0 The autoware_pcl_extensions package Ryu Yamamoto Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index ad1ce2aaf8464..def8780dc20f8 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -2,6 +2,155 @@ Changelog for package autoware_pointcloud_preprocessor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_pointcloud_preprocessor): redesign concatenate and time sync node (`#8300 `_) + * chore: rebase main + * chore: solve conflicts + * chore: fix cpp check + * chore: add diagnostics readme + * chore: update figure + * chore: upload jitter.png and add old design link + * chore: add the link to the tool for analyzing timestamp + * fix: fix bug that timer didn't cancel + * chore: fix logic for logging + * Update sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/src/concatenate_data/combine_cloud_handler.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/schema/cocatenate_and_time_sync_node.schema.json + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/schema/cocatenate_and_time_sync_node.schema.json + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/src/concatenate_data/combine_cloud_handler.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/src/concatenate_data/combine_cloud_handler.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * chore: remove distortion corrector related changes + * feat: add managed tf buffer + * chore: fix filename + * chore: add explanataion for maximum queue size + * chore: add explanation for timeout_sec + * chore: fix schema's explanation + * chore: fix description for twist and odom + * chore: remove license that are not used + * chore: change guard to prama once + * chore: default value change to string + * Update sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node_unit.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node_unit.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node_unit.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node_unit.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * style(pre-commit): autofix + * chore: clang-tidy style for static constexpr + * chore: remove unused vector header + * chore: fix naming concatenated_cloud_publisher + * chore: fix namimg diagnostic_updater\_ + * chore: specify parameter in comment + * chore: change RCLCPP_WARN to RCLCPP_WARN_STREAM_THROTTLE + * chore: add comment for cancelling timer + * chore: Simplify loop structure for topic-to-cloud mapping + * chore: fix spell errors + * chore: fix more spell error + * chore: rename mutex and lock + * chore: const reference for string parameter + * chore: add explaination for RclcppTimeHash\_ + * chore: change the concatenate node to parent node + * chore: clean processOdometry and processTwist + * chore: change twist shared pointer queue to twist queue + * chore: refactor compensate pointcloud to function + * chore: reallocate memory for concatenate_cloud_ptr + * chore: remove new to make shared + * chore: dis to distance + * chore: refacotr poitncloud_sub + * chore: return early return but throw runtime error + * chore: replace #define DEFAULT_SYNC_TOPIC_POSTFIX with member variable + * chore: fix spell error + * chore: remove redundant function call + * chore: replace conplex tuple to structure + * chore: use reference instead of a pointer to conveys node + * chore: fix camel to snake case + * chore: fix logic of publish synchronized pointcloud + * chore: fix cpp check + * chore: remove logging and throw error directly + * chore: fix clangd warnings + * chore: fix json schema + * chore: fix clangd warning + * chore: remove unused variable + * chore: fix launcher + * chore: fix clangd warning + * chore: ensure thread safety + * style(pre-commit): autofix + * chore: clean code + * chore: add parameters for handling rosbag replay in loops + * chore: fix diagonistic + * chore: reduce copy operation + * chore: reserve space for concatenated pointcloud + * chore: fix clangd error + * chore: fix pipeline latency + * chore: add debug mode + * chore: refactor convert_to_xyzirc_cloud function + * chore: fix json schema + * chore: fix logging output + * chore: fix the output order of the debug mode + * chore: fix pipeline latency output + * chore: clean code + * chore: set some parameters to false in testing + * chore: fix default value for schema + * chore: fix diagnostic msgs + * chore: fix parameter for sample ros bag + * chore: update readme + * chore: fix empty pointcloud + * chore: remove duplicated logic + * chore: fix logic for handling empty pointcloud + * chore: clean code + * chore: remove rosbag_replay parameter + * chore: remove nodelet cpp + * chore: clang tidy warning + * feat: add naive approach for unsynchronized pointclouds + * chore: add more explanations in docs for naive approach + * feat: refactor naive method and fix the multithreading issue + * chore: set parameter to naive + * chore: fix parameter + * chore: fix readme + * Update sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * style(pre-commit): autofix + * feat: remove mutually exclusive approaches + * chore: fix spell error + * chore: remove unused variable + * refactor: refactor collectorInfo to polymorphic + * chore: fix variable name + * chore: fix figure and diagnostic msg in readme + * chroe: refactor collectorinfo structure + * chore: revert wrong file changes + * chore: improve message + * chore: remove unused input topics + * chore: change to explicit check + * chore: tier4 debug msgs to autoware internal debug msgs + * chore: update documentation + --------- + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_pointcloud_preprocessor): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_pointcloud_preprocessor (`#9920 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files sensing/autoware_pointcloud_preprocessor +* fix(autoware_pointcloud_preprocessor): fix autoware pointcloud preprocessor docs (`#9765 `_) + * fix downsample and passthrough + * fix: fix blockage-diag docs that page is not shown + --------- +* fix(autoware_pointcloud_preprocessor): fix image display in distortion corrector (`#9761 `_) + fix: fix image display +* fix(autoware_pointcloud_preprocessor): remove unused function mask() (`#9751 `_) +* fix: enable to copy all information in pickup based pointcloud downsampler (`#9686 `_) + enable to copy all information in downsampler +* Contributors: Fumiya Watanabe, Ryuta Kambe, Vishal Chauhan, Yi-Hsiang Fang (Vivid), Yoshi Ri + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 525b1f3eb0699..ab345f03bd694 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -2,7 +2,7 @@ autoware_pointcloud_preprocessor - 0.40.0 + 0.41.0 The ROS 2 autoware_pointcloud_preprocessor package amc-nu Yukihiro Saito diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index 4d92b7237c281..a719f7d396b19 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_scan_to_pointcloud2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml index b14615cfb68ea..f95a95a27abee 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml +++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml @@ -1,7 +1,7 @@ autoware_radar_scan_to_pointcloud2 - 0.40.0 + 0.41.0 autoware_radar_scan_to_pointcloud2 Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index b66f99ba578a6..ec5c7dfc1c19f 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_static_pointcloud_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml index 943bd71f29da7..4a5186a6a3ec1 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/package.xml +++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_static_pointcloud_filter - 0.40.0 + 0.41.0 autoware_radar_static_pointcloud_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index e217daeca5a35..b5f3328d7e164 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_threshold_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml index 5e2a5395168fb..69e6969e5a429 100644 --- a/sensing/autoware_radar_threshold_filter/package.xml +++ b/sensing/autoware_radar_threshold_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_threshold_filter - 0.40.0 + 0.41.0 autoware_radar_threshold_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index c11a0fde76832..8cb85424b9874 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_radar_tracks_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml index d674e88e19a1a..3b95b33991640 100644 --- a/sensing/autoware_radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_noise_filter - 0.40.0 + 0.41.0 autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst index 004b045a12494..e0f48fb9122e3 100644 --- a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst @@ -1,7 +1,10 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package vehicle_velocity_converter +Changelog for package autoware_vehicle_velocity_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/sensing/autoware_vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml index cc5c555680562..9f27b5ca8d9f5 100644 --- a/sensing/autoware_vehicle_velocity_converter/package.xml +++ b/sensing/autoware_vehicle_velocity_converter/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_velocity_converter - 0.40.0 + 0.41.0 The autoware_vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index e9e42a6e4e629..b3ad06d1f3ff9 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_livox_tag_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index 61555e186d1e1..bcc8ae86afeb3 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -2,7 +2,7 @@ autoware_livox_tag_filter - 0.40.0 + 0.41.0 The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index d71cf66049c9d..e869e6f62fdd9 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package autoware_carla_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_carla_interface): fix lidar topic name (`#9645 `_) +* Contributors: Fumiya Watanabe, Maxime CLEMENT + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml index 1ea183cc86eb5..a8eeabc5f3398 100644 --- a/simulator/autoware_carla_interface/package.xml +++ b/simulator/autoware_carla_interface/package.xml @@ -1,7 +1,7 @@ autoware_carla_interface - 0.40.0 + 0.41.0 The carla autoware bridge package Muhammad Raditya GIOVANNI Maxime CLEMENT diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 4f06766582f6a..50f6c274d6740 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -8,7 +8,7 @@ setup( name=package_name, - version="0.40.0", + version="0.41.0", packages=find_packages(where="src"), data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst similarity index 99% rename from simulator/dummy_perception_publisher/CHANGELOG.rst rename to simulator/autoware_dummy_perception_publisher/CHANGELOG.rst index 50b2396ae0311..819303dc2c3c4 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package dummy_perception_publisher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_dummy_perception_publisher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/autoware_dummy_perception_publisher/CMakeLists.txt similarity index 70% rename from simulator/dummy_perception_publisher/CMakeLists.txt rename to simulator/autoware_dummy_perception_publisher/CMakeLists.txt index 0acf4694d03a6..9ac146b182a9a 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/autoware_dummy_perception_publisher/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(dummy_perception_publisher) +project(autoware_dummy_perception_publisher) find_package(autoware_cmake REQUIRED) autoware_package() @@ -23,19 +23,19 @@ ament_auto_add_library(signed_distance_function SHARED src/signed_distance_function.cpp ) -ament_auto_add_executable(dummy_perception_publisher_node +ament_auto_add_executable(${PROJECT_NAME}_node src/main.cpp src/node.cpp src/pointcloud_creator.cpp ) -target_link_libraries(dummy_perception_publisher_node +target_link_libraries(${PROJECT_NAME}_node signed_distance_function ) -ament_target_dependencies(dummy_perception_publisher_node ${${PROJECT_NAME}_DEPENDENCIES}) +ament_target_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_DEPENDENCIES}) -target_include_directories(dummy_perception_publisher_node +target_include_directories(${PROJECT_NAME}_node PUBLIC $ $) @@ -43,14 +43,14 @@ target_include_directories(dummy_perception_publisher_node # PCL dependencies - `ament_target_dependencies` doesn't respect the # components/modules selected above and only links in `common` ,so we need # to do this manually. -target_compile_definitions(dummy_perception_publisher_node PRIVATE ${PCL_DEFINITIONS}) -target_include_directories(dummy_perception_publisher_node PRIVATE ${PCL_INCLUDE_DIRS}) +target_compile_definitions(${PROJECT_NAME}_node PRIVATE ${PCL_DEFINITIONS}) +target_include_directories(${PROJECT_NAME}_node PRIVATE ${PCL_INCLUDE_DIRS}) # Unfortunately, this one can't be PRIVATE because only the plain or only the # keyword (PRIVATE) signature of target_link_libraries can be used for one # target, not both. The plain signature is already used inside # `ament_target_dependencies` and possibly rosidl_target_interfaces. -target_link_libraries(dummy_perception_publisher_node ${PCL_LIBRARIES}) -target_link_directories(dummy_perception_publisher_node PRIVATE ${PCL_LIBRARY_DIRS}) +target_link_libraries(${PROJECT_NAME}_node ${PCL_LIBRARIES}) +target_link_directories(${PROJECT_NAME}_node PRIVATE ${PCL_LIBRARY_DIRS}) ament_auto_add_executable(empty_objects_publisher diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/autoware_dummy_perception_publisher/README.md similarity index 100% rename from simulator/dummy_perception_publisher/README.md rename to simulator/autoware_dummy_perception_publisher/README.md diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp similarity index 94% rename from simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp rename to simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp index cf46ecddf516f..413ba4d82b836 100644 --- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp +++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ -#define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ +#ifndef AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ +#define AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ #include @@ -41,6 +41,8 @@ #include #include +namespace autoware::dummy_perception_publisher +{ struct ObjectInfo { ObjectInfo( @@ -139,4 +141,6 @@ class DummyPerceptionPublisherNode : public rclcpp::Node ~DummyPerceptionPublisherNode() {} }; -#endif // DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ +} // namespace autoware::dummy_perception_publisher + +#endif // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_ diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp similarity index 85% rename from simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp rename to simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp index abf24cb8dd4e6..349cbe42ec0bc 100644 --- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp +++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ -#define DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ +#ifndef AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ +#define AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace signed_distance_function +namespace autoware::dummy_perception_publisher { class AbstractSignedDistanceFunction @@ -69,6 +69,6 @@ class CompositeSDF : public AbstractSignedDistanceFunction std::vector> sdf_ptrs_; }; -} // namespace signed_distance_function +} // namespace autoware::dummy_perception_publisher -#endif // DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ +#endif // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_ diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml similarity index 90% rename from simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml rename to simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml index 41025f74cbe50..ed9c38f7dc9b5 100644 --- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml +++ b/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml @@ -9,7 +9,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/autoware_dummy_perception_publisher/package.xml similarity index 83% rename from simulator/dummy_perception_publisher/package.xml rename to simulator/autoware_dummy_perception_publisher/package.xml index 4f78acd6c07f2..e9dd3cb1614c9 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/autoware_dummy_perception_publisher/package.xml @@ -1,10 +1,11 @@ - dummy_perception_publisher - 0.40.0 - The dummy_perception_publisher package + autoware_dummy_perception_publisher + 0.41.0 + The autoware_dummy_perception_publisher package Yukihiro Saito + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp similarity index 89% rename from simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp rename to simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp index 2d1ea626fb1ac..2a2a1d89ffcb8 100644 --- a/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp +++ b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp @@ -19,6 +19,9 @@ #include #include +namespace autoware::dummy_perception_publisher +{ + class EmptyObjectsPublisher : public rclcpp::Node { public: @@ -45,10 +48,12 @@ class EmptyObjectsPublisher : public rclcpp::Node } }; +} // namespace autoware::dummy_perception_publisher + int main(int argc, char ** argv) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; } diff --git a/simulator/dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp similarity index 81% rename from simulator/dummy_perception_publisher/src/main.cpp rename to simulator/autoware_dummy_perception_publisher/src/main.cpp index 5e627f2cbc8ed..224074f15f3c5 100644 --- a/simulator/dummy_perception_publisher/src/main.cpp +++ b/simulator/autoware_dummy_perception_publisher/src/main.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dummy_perception_publisher/node.hpp" +#include "autoware/dummy_perception_publisher/node.hpp" #include @@ -21,7 +21,8 @@ int main(int argc, char ** argv) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin( + std::make_shared()); rclcpp::shutdown(); return 0; diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/autoware_dummy_perception_publisher/src/node.cpp similarity index 99% rename from simulator/dummy_perception_publisher/src/node.cpp rename to simulator/autoware_dummy_perception_publisher/src/node.cpp index d72b16d303cec..22797e252813c 100644 --- a/simulator/dummy_perception_publisher/src/node.cpp +++ b/simulator/autoware_dummy_perception_publisher/src/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dummy_perception_publisher/node.hpp" +#include "autoware/dummy_perception_publisher/node.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -35,6 +35,9 @@ #include #include +namespace autoware::dummy_perception_publisher +{ + using autoware_perception_msgs::msg::TrackedObject; using autoware_perception_msgs::msg::TrackedObjects; @@ -428,3 +431,5 @@ void DummyPerceptionPublisherNode::objectCallback( } } } + +} // namespace autoware::dummy_perception_publisher diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp similarity index 96% rename from simulator/dummy_perception_publisher/src/pointcloud_creator.cpp rename to simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp index 977336f63eee3..a2f84841e4ff2 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2025 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dummy_perception_publisher/node.hpp" -#include "dummy_perception_publisher/signed_distance_function.hpp" +#include "autoware/dummy_perception_publisher/node.hpp" +#include "autoware/dummy_perception_publisher/signed_distance_function.hpp" #include @@ -26,7 +26,7 @@ #include #include -namespace +namespace autoware::dummy_perception_publisher { static constexpr double epsilon = 0.001; @@ -45,8 +45,6 @@ pcl::PointXYZ getPointWrtBaseLink( return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z()); } -} // namespace - void ObjectCentricPointCloudCreator::create_object_pointcloud( const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map, std::mt19937 & random_generator, pcl::PointCloud::Ptr pointcloud) const @@ -200,13 +198,13 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr const std::vector & obj_infos, const tf2::Transform & tf_base_link2map, std::mt19937 & random_generator, pcl::PointCloud::Ptr & merged_pointcloud) const { - std::vector> sdf_ptrs; + std::vector> sdf_ptrs; for (const auto & obj_info : obj_infos) { - const auto sdf_ptr = std::make_shared( + const auto sdf_ptr = std::make_shared( obj_info.length, obj_info.width, tf_base_link2map * obj_info.tf_map2moved_object); sdf_ptrs.push_back(sdf_ptr); } - const auto composite_sdf = signed_distance_function::CompositeSDF(sdf_ptrs); + const auto composite_sdf = CompositeSDF(sdf_ptrs); std::vector::Ptr> pointclouds(obj_infos.size()); for (size_t i = 0; i < obj_infos.size(); ++i) { @@ -261,3 +259,5 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr } return pointclouds; } + +} // namespace autoware::dummy_perception_publisher diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp similarity index 94% rename from simulator/dummy_perception_publisher/src/signed_distance_function.cpp rename to simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp index 01bef1851b25e..c6a720e33fefa 100644 --- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp +++ b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dummy_perception_publisher/signed_distance_function.hpp" +#include "autoware/dummy_perception_publisher/signed_distance_function.hpp" #include @@ -20,7 +20,7 @@ #include #include -namespace signed_distance_function +namespace autoware::dummy_perception_publisher { double AbstractSignedDistanceFunction::getSphereTracingDist( @@ -89,4 +89,4 @@ size_t CompositeSDF::nearest_sdf_index(double x, double y) const return idx_min; } -} // namespace signed_distance_function +} // namespace autoware::dummy_perception_publisher diff --git a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp similarity index 82% rename from simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp rename to simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp index 5b8dcee549ea7..e7bb667a1dec2 100644 --- a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp +++ b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dummy_perception_publisher/signed_distance_function.hpp" +#include "autoware/dummy_perception_publisher/signed_distance_function.hpp" #include #include @@ -23,7 +23,8 @@ #include #include -namespace sdf = signed_distance_function; +namespace autoware::dummy_perception_publisher +{ TEST(SignedDistanceFunctionTest, BoxSDF) { @@ -33,7 +34,7 @@ TEST(SignedDistanceFunctionTest, BoxSDF) // test with identity transform const auto q = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), 0.0); const auto tf_global2local = tf2::Transform(q); - const auto func = sdf::BoxSDF(1., 2., tf_global2local); + const auto func = BoxSDF(1., 2., tf_global2local); ASSERT_NEAR(func(0.0, 0.0), -0.5, eps); ASSERT_NEAR(func(0.0, 1.0), 0.0, eps); ASSERT_NEAR(func(0.0, 1.5), 0.5, eps); @@ -50,7 +51,7 @@ TEST(SignedDistanceFunctionTest, BoxSDF) // test with rotation (90 deg) and translation const auto q = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), M_PI * 0.5); const auto tf_global2local = tf2::Transform(q, tf2::Vector3(1.0, 1.0, 0.0)); - const auto func = sdf::BoxSDF(1., 2., tf_global2local); + const auto func = BoxSDF(1., 2., tf_global2local); ASSERT_NEAR(func(1.0, 1.0), -0.5, eps); ASSERT_NEAR(func(0.0, 0.0), 0.5, eps); @@ -63,11 +64,11 @@ TEST(SignedDistanceFunctionTest, CompositeSDF) const double eps = 1e-5; const auto q_identity = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), 0.0); const auto f1 = - std::make_shared(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 0, 0))); + std::make_shared(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 0, 0))); const auto f2 = - std::make_shared(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 2.0, 0))); + std::make_shared(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 2.0, 0))); const auto func = - sdf::CompositeSDF(std::vector>{f1, f2}); + CompositeSDF(std::vector>{f1, f2}); ASSERT_NEAR(func(0.0, 0.9), 0.4, eps); ASSERT_NEAR(func(0.0, 1.1), 0.4, eps); ASSERT_NEAR(func(0.0, 0.1), -0.4, eps); @@ -77,6 +78,8 @@ TEST(SignedDistanceFunctionTest, CompositeSDF) // ASSERT_NEAR(func.getSphereTracingDist(0.0, 1.0, M_PI * -0.5, eps), 0.5, eps); } +} // namespace autoware::dummy_perception_publisher + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); diff --git a/simulator/autoware_fault_injection/CHANGELOG.rst b/simulator/autoware_fault_injection/CHANGELOG.rst index 6116bafaa2088..132cdb733c271 100644 --- a/simulator/autoware_fault_injection/CHANGELOG.rst +++ b/simulator/autoware_fault_injection/CHANGELOG.rst @@ -1,7 +1,27 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package fault_injection +Changelog for package autoware_fault_injection ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `fault_injection` (`#9989 `_) + * feat(fault_injection): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(fault_injection): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(fault_injection): fix include header paths + * To follow the previous commit + * rename: `fault_injection` => `autoware_fault_injection` + * Fixed exec_depend + --------- + Co-authored-by: SakodaShintaro +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/simulator/autoware_fault_injection/package.xml b/simulator/autoware_fault_injection/package.xml index 15391feced80f..a0479ff49ee50 100644 --- a/simulator/autoware_fault_injection/package.xml +++ b/simulator/autoware_fault_injection/package.xml @@ -2,7 +2,7 @@ autoware_fault_injection - 0.40.0 + 0.41.0 The fault_injection package Keisuke Shima Junya Sasaki diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst similarity index 88% rename from simulator/learning_based_vehicle_model/CHANGELOG.rst rename to simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst index ed271370a6840..82757278b719d 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package learning_based_vehicle_model -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_learning_based_vehicle_model +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `learning_based_vehicle_model` (`#9991 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/simulator/learning_based_vehicle_model/CMakeLists.txt b/simulator/autoware_learning_based_vehicle_model/CMakeLists.txt similarity index 92% rename from simulator/learning_based_vehicle_model/CMakeLists.txt rename to simulator/autoware_learning_based_vehicle_model/CMakeLists.txt index 58a3ad57e6f9e..02159e7d282bc 100644 --- a/simulator/learning_based_vehicle_model/CMakeLists.txt +++ b/simulator/autoware_learning_based_vehicle_model/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14.4) -project(learning_based_vehicle_model) +project(autoware_learning_based_vehicle_model) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/simulator/learning_based_vehicle_model/README.md b/simulator/autoware_learning_based_vehicle_model/README.md similarity index 100% rename from simulator/learning_based_vehicle_model/README.md rename to simulator/autoware_learning_based_vehicle_model/README.md diff --git a/simulator/learning_based_vehicle_model/image/python_model_interface.png b/simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png similarity index 100% rename from simulator/learning_based_vehicle_model/image/python_model_interface.png rename to simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp similarity index 86% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp index 56a196c257189..b08a8957dff7d 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ -#include "learning_based_vehicle_model/model_connections_helpers.hpp" -#include "learning_based_vehicle_model/simple_pymodel.hpp" -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" #include #include @@ -29,6 +29,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; class __attribute__((visibility("default"))) InterconnectedModel @@ -127,4 +130,6 @@ class __attribute__((visibility("default"))) InterconnectedModel std::vector updatePyModel(std::vector psim_input); }; -#endif // LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp similarity index 68% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp index 0d46169600b2f..94d206fece130 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse); @@ -25,4 +28,6 @@ std::vector fillVectorUsingMap( std::vector createConnectionsMap( const std::vector & connection_names_1, const std::vector & connection_names_2); -#endif // LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp similarity index 85% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp index fd9cf5cf44de9..270a30b5e23dd 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -13,11 +13,11 @@ // limitations under the License. // cspell:ignore pymodel -#ifndef LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ -#include "learning_based_vehicle_model/model_connections_helpers.hpp" -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" #include #include @@ -25,6 +25,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; /** @@ -99,4 +102,6 @@ class SimplePyModel : public SubModelInterface void mapOutputs(std::vector signals_vec_names) override; }; -#endif // LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp similarity index 82% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp index 1cbad103278fb..f97158aadcd2b 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,11 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ #include +namespace autoware::simulator::learning_based_vehicle_model +{ + class SubModelInterface { public: @@ -59,4 +62,6 @@ class SubModelInterface std::vector model_signals_vec, std::vector model_signals_vec_next) = 0; }; -#endif // LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/autoware_learning_based_vehicle_model/package.xml similarity index 75% rename from simulator/learning_based_vehicle_model/package.xml rename to simulator/autoware_learning_based_vehicle_model/package.xml index 317be3d0990ca..6f48df3364a76 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/autoware_learning_based_vehicle_model/package.xml @@ -1,11 +1,12 @@ - learning_based_vehicle_model - 0.40.0 - learning_based_vehicle_model for simple_planning_simulator + autoware_learning_based_vehicle_model + 0.41.0 + autoware_learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp similarity index 95% rename from simulator/learning_based_vehicle_model/src/interconnected_model.cpp rename to simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp index e495aceb8da9c..1f92e8cd058a5 100644 --- a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp +++ b/simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/interconnected_model.hpp" +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + void InterconnectedModel::mapInputs(std::vector in_names) { // index in "map_in_to_sig_vec" is index in "in_names" and value in "map_in_to_sig_vec" is index @@ -139,3 +142,5 @@ std::vector InterconnectedModel::updatePyModel(std::vector psim_ return psim_next_state; } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp similarity index 88% rename from simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp rename to simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp index b300f3837b18a..284607744e218 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" #include +namespace autoware::simulator::learning_based_vehicle_model +{ + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse) @@ -48,3 +51,5 @@ std::vector createConnectionsMap( } return connection_map; } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp similarity index 94% rename from simulator/learning_based_vehicle_model/src/simple_pymodel.cpp rename to simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp index 10581179baf4a..50ceb14ff90e6 100644 --- a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp +++ b/simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/simple_pymodel.hpp" +#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp" #include #include @@ -20,6 +20,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; SimplePyModel::SimplePyModel( @@ -110,3 +113,5 @@ void SimplePyModel::mapOutputs(std::vector signals_vec_names) // "map_py_model_outputs_to_sig_vec" is index in "signals_vec_names" map_py_model_outputs_to_sig_vec = createConnectionsMap(signals_vec_names, py_model_state_names); } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp b/simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp similarity index 82% rename from simulator/learning_based_vehicle_model/src/submodel_interface.cpp rename to simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp index 906aff4b01ae0..cc525b990801b 100644 --- a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp +++ b/simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,4 +12,4 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" diff --git a/simulator/autoware_simple_planning_simulator/CHANGELOG.rst b/simulator/autoware_simple_planning_simulator/CHANGELOG.rst index ac6e093ea55e7..8e36793315331 100644 --- a/simulator/autoware_simple_planning_simulator/CHANGELOG.rst +++ b/simulator/autoware_simple_planning_simulator/CHANGELOG.rst @@ -1,7 +1,36 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package simple_planning_simulator +Changelog for package autoware_simple_planning_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `learning_based_vehicle_model` (`#9991 `_) +* feat: apply `autoware\_` prefix for `simple_planning_simulator` (`#9995 `_) + * feat(simple_planning_simulator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(simple_planning_simulator): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(simple_planning_simulator): fix include header paths + * To follow the previous commit + * rename: `simple_planning_simulator` => `autoware_simple_planning_simulator` + * bug(autoware_simple_planning_simulator): fix missing changes + * style(pre-commit): autofix + * bug(autoware_simple_planning_simulator): fix errors in build and tests + * I had to run after `rm -rf install build`, ... sorry + * style(pre-commit): autofix + * Fixed NOLINT + * Added NOLINT + * Fixed to autoware_simple_planning_simulator + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Sakoda +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/simulator/autoware_simple_planning_simulator/CMakeLists.txt b/simulator/autoware_simple_planning_simulator/CMakeLists.txt index ab4ac8218e193..18f2486796d96 100644 --- a/simulator/autoware_simple_planning_simulator/CMakeLists.txt +++ b/simulator/autoware_simple_planning_simulator/CMakeLists.txt @@ -3,7 +3,7 @@ project(autoware_simple_planning_simulator) find_package(autoware_cmake REQUIRED) find_package(Python3 COMPONENTS Interpreter Development) -find_package(learning_based_vehicle_model REQUIRED) +find_package(autoware_learning_based_vehicle_model REQUIRED) autoware_package() # Component @@ -25,7 +25,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/utils/csv_loader.cpp src/simple_planning_simulator/utils/mechanical_controller.cpp ) -target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) +target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${autoware_learning_based_vehicle_model_INCLUDE_DIRS}) # Node executable rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator" diff --git a/simulator/autoware_simple_planning_simulator/README.md b/simulator/autoware_simple_planning_simulator/README.md index 385f4aa1c7eab..89fe55af1c3ff 100644 --- a/simulator/autoware_simple_planning_simulator/README.md +++ b/simulator/autoware_simple_planning_simulator/README.md @@ -64,7 +64,7 @@ The purpose of this simulator is for the integration test of planning and contro - `DELAY_STEER_ACC_GEARED` - `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD` - `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle. -- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model). +- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../autoware_learning_based_vehicle_model). The following models receive `ACTUATION_CMD` generated from `raw_vehicle_cmd_converter`. Therefore, when these models are selected, the `raw_vehicle_cmd_converter` is also launched. diff --git a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp index d878ef01c0536..fa3eafa78a710 100644 --- a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp @@ -79,7 +79,6 @@ class SimModelDelaySteerVel : public SimModelInterface const double steer_lim_; //!< @brief steering limit [rad] const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] const double wheelbase_; //!< @brief vehicle wheelbase length [m] - double prev_vx_ = 0.0; double current_ax_ = 0.0; std::deque vx_input_queue_; //!< @brief buffer for velocity command diff --git a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp index 124c0d2532069..0aa525cd3f5c1 100644 --- a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp @@ -15,8 +15,8 @@ #ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ #define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" -#include "learning_based_vehicle_model/interconnected_model.hpp" #include #include @@ -77,7 +77,7 @@ class SimModelLearnedSteerVel : public SimModelInterface /*delay steer velocity* STEER_DES, }; - InterconnectedModel vehicle; + autoware::simulator::learning_based_vehicle_model::InterconnectedModel vehicle; double prev_vx_ = 0.0; double current_ax_ = 0.0; diff --git a/simulator/autoware_simple_planning_simulator/package.xml b/simulator/autoware_simple_planning_simulator/package.xml index 790e48cd80cc1..47ca399a9ad95 100644 --- a/simulator/autoware_simple_planning_simulator/package.xml +++ b/simulator/autoware_simple_planning_simulator/package.xml @@ -2,7 +2,7 @@ autoware_simple_planning_simulator - 0.40.0 + 0.41.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura @@ -19,6 +19,7 @@ autoware_control_msgs autoware_lanelet2_extension + autoware_learning_based_vehicle_model autoware_map_msgs autoware_motion_utils autoware_planning_msgs @@ -27,7 +28,6 @@ autoware_vehicle_msgs geometry_msgs lanelet2_core - learning_based_vehicle_model nav_msgs rclcpp rclcpp_components diff --git a/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp index 66d42d4719bf0..89d9b573fa96d 100644 --- a/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp @@ -83,9 +83,9 @@ void SimModelDelaySteerVel::update(const double & dt) delayed_input(IDX_U::STEER_DES) = steer_input_queue_.front(); steer_input_queue_.pop_front(); // do not use deadzone_delta_steer (Steer IF does not exist in this model) + const double prev_vx = state_(IDX::VX); updateRungeKutta(dt, delayed_input); - current_ax_ = (input_(IDX_U::VX_DES) - prev_vx_) / dt; - prev_vx_ = input_(IDX_U::VX_DES); + current_ax_ = (state_(IDX::VX) - prev_vx) / dt; } void SimModelDelaySteerVel::initializeInputQueue(const double & dt) diff --git a/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp index 2d9c8d8ab0e0e..ce7ba2d48bac2 100644 --- a/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp @@ -14,7 +14,7 @@ #include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" -#include "learning_based_vehicle_model/interconnected_model.hpp" +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include #include diff --git a/simulator/autoware_vehicle_door_simulator/CHANGELOG.rst b/simulator/autoware_vehicle_door_simulator/CHANGELOG.rst index 3def98ed36995..30e09a8236754 100644 --- a/simulator/autoware_vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/autoware_vehicle_door_simulator/CHANGELOG.rst @@ -1,7 +1,14 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package vehicle_door_simulator +Changelog for package autoware_vehicle_door_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `vehicle_door_simulator` (`#9997 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/simulator/autoware_vehicle_door_simulator/package.xml b/simulator/autoware_vehicle_door_simulator/package.xml index 2a92e6240eba3..d0ecdb3c8f529 100644 --- a/simulator/autoware_vehicle_door_simulator/package.xml +++ b/simulator/autoware_vehicle_door_simulator/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_door_simulator - 0.40.0 + 0.41.0 The vehicle_door_simulator package Takagi, Isamu Junya Sasaki diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index 1157abff775ab..0c2a51543b7a1 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_dummy_object_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index b73d3a1cc15c0..6174317813b59 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_dummy_object_rviz_plugin - 0.40.0 + 0.41.0 The tier4_dummy_object_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/system/autoware_bluetooth_monitor/CHANGELOG.rst b/system/autoware_bluetooth_monitor/CHANGELOG.rst index 25b55a9bdcc6f..3f01329d06120 100644 --- a/system/autoware_bluetooth_monitor/CHANGELOG.rst +++ b/system/autoware_bluetooth_monitor/CHANGELOG.rst @@ -1,7 +1,31 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package bluetooth_monitor +Changelog for package autoware_bluetooth_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `bluetooth_monitor` (`#9960 `_) + * feat(bluetooth_monitor): apply `autoware\_` prefix (see below): + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(bluetooth_monitor): move headers under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(bluetooth_monitor): fix include paths + * To follow the previous commit + * bug(bluetooth_monitor): fix a missing prefix bug + * rename: `bluetooth_monitor` => `autoware_bluetooth_monitor` + * style(pre-commit): autofix + * bug(autoware_bluetooth_monitor): revert wrongly updated copyrights + * bug(autoware_bluetooth_monitor): `autoware\_` prefix is not needed here + * update: `CODEOWNERS` + * update(autoware_bluetooth_monitor): `README.md` + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_bluetooth_monitor/package.xml b/system/autoware_bluetooth_monitor/package.xml index 8f5c8d2d6ab77..12070b90f3d2a 100644 --- a/system/autoware_bluetooth_monitor/package.xml +++ b/system/autoware_bluetooth_monitor/package.xml @@ -2,7 +2,7 @@ autoware_bluetooth_monitor - 0.40.0 + 0.41.0 Bluetooth alive monitoring Fumihito Ito Junya Sasaki diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index 339f30f9f9f80..ad3fbeac76c35 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_component_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml index 27432bc1fc0d6..965cef269d971 100644 --- a/system/autoware_component_monitor/package.xml +++ b/system/autoware_component_monitor/package.xml @@ -2,7 +2,7 @@ autoware_component_monitor - 0.40.0 + 0.41.0 A ROS 2 package to monitor system usage of component containers. Mehmet Emin Başoğlu Barış Zeren diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/autoware_component_state_monitor/CHANGELOG.rst similarity index 93% rename from system/component_state_monitor/CHANGELOG.rst rename to system/autoware_component_state_monitor/CHANGELOG.rst index 40843314ddf4a..f7c729718af15 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/autoware_component_state_monitor/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package component_state_monitor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_state_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/component_state_monitor/CMakeLists.txt b/system/autoware_component_state_monitor/CMakeLists.txt similarity index 73% rename from system/component_state_monitor/CMakeLists.txt rename to system/autoware_component_state_monitor/CMakeLists.txt index 23037b1400e2d..3ca6e4f5c4e1a 100644 --- a/system/component_state_monitor/CMakeLists.txt +++ b/system/autoware_component_state_monitor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_state_monitor) +project(autoware_component_state_monitor) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_nodes(${PROJECT_NAME} - "component_state_monitor::StateMonitor" + "autoware::component_state_monitor::StateMonitor" ) ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/system/component_state_monitor/README.md b/system/autoware_component_state_monitor/README.md similarity index 87% rename from system/component_state_monitor/README.md rename to system/autoware_component_state_monitor/README.md index 327c7b7651caf..a7ea12624da0d 100644 --- a/system/component_state_monitor/README.md +++ b/system/autoware_component_state_monitor/README.md @@ -1,4 +1,4 @@ -# component_state_monitor +# autoware_component_state_monitor The component state monitor checks the state of each component using topic state monitor. This is an implementation for backward compatibility with the AD service state monitor. diff --git a/system/component_state_monitor/config/topics.yaml b/system/autoware_component_state_monitor/config/topics.yaml similarity index 100% rename from system/component_state_monitor/config/topics.yaml rename to system/autoware_component_state_monitor/config/topics.yaml diff --git a/system/component_state_monitor/launch/component_state_monitor.launch.py b/system/autoware_component_state_monitor/launch/component_state_monitor.launch.py similarity index 94% rename from system/component_state_monitor/launch/component_state_monitor.launch.py rename to system/autoware_component_state_monitor/launch/component_state_monitor.launch.py index 6fcb4e6f13020..0fd166bd80d37 100644 --- a/system/component_state_monitor/launch/component_state_monitor.launch.py +++ b/system/autoware_component_state_monitor/launch/component_state_monitor.launch.py @@ -39,7 +39,7 @@ def create_topic_monitor_name(row): def create_topic_monitor_node(row): tf_mode = "" if "topic_type" in row["args"] else "_tf" - package = FindPackageShare("topic_state_monitor") + package = FindPackageShare("autoware_topic_state_monitor") include = PathJoinSubstitution([package, f"launch/topic_state_monitor{tf_mode}.launch.xml"]) diag_name = create_diagnostic_name(row) arguments = [("diag_name", diag_name)] + [(k, str(v)) for k, v in row["args"].items()] @@ -62,8 +62,8 @@ def launch_setup(context, *args, **kwargs): component = ComposableNode( namespace="component_state_monitor", name="component", - package="component_state_monitor", - plugin="component_state_monitor::StateMonitor", + package="autoware_component_state_monitor", + plugin="autoware::component_state_monitor::StateMonitor", parameters=[{"topic_monitor_names": topic_monitor_names}, topic_monitor_param], ) container = ComposableNodeContainer( diff --git a/system/component_state_monitor/package.xml b/system/autoware_component_state_monitor/package.xml similarity index 71% rename from system/component_state_monitor/package.xml rename to system/autoware_component_state_monitor/package.xml index b92dd4af9517f..91e129f0b8cf0 100644 --- a/system/component_state_monitor/package.xml +++ b/system/autoware_component_state_monitor/package.xml @@ -1,10 +1,11 @@ - component_state_monitor - 0.40.0 - The component_state_monitor package + autoware_component_state_monitor + 0.41.0 + The autoware_component_state_monitor package Takagi, Isamu + Junya Sasaki Apache License 2.0 ament_cmake_auto @@ -15,7 +16,7 @@ rclcpp_components tier4_system_msgs - topic_state_monitor + autoware_topic_state_monitor ament_lint_auto autoware_lint_common diff --git a/system/component_state_monitor/src/main.cpp b/system/autoware_component_state_monitor/src/main.cpp similarity index 95% rename from system/component_state_monitor/src/main.cpp rename to system/autoware_component_state_monitor/src/main.cpp index c87963b1b21c0..43278c7ae894c 100644 --- a/system/component_state_monitor/src/main.cpp +++ b/system/autoware_component_state_monitor/src/main.cpp @@ -18,7 +18,7 @@ #include #include -namespace component_state_monitor +namespace autoware::component_state_monitor { // clang-format off @@ -129,7 +129,7 @@ void StateMonitor::on_diag(const DiagnosticArray::ConstSharedPtr msg) } } -} // namespace component_state_monitor +} // namespace autoware::component_state_monitor #include -RCLCPP_COMPONENTS_REGISTER_NODE(component_state_monitor::StateMonitor) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_state_monitor::StateMonitor) diff --git a/system/component_state_monitor/src/main.hpp b/system/autoware_component_state_monitor/src/main.hpp similarity index 95% rename from system/component_state_monitor/src/main.hpp rename to system/autoware_component_state_monitor/src/main.hpp index 73f57f56b4f87..81904553bb272 100644 --- a/system/component_state_monitor/src/main.hpp +++ b/system/autoware_component_state_monitor/src/main.hpp @@ -24,7 +24,7 @@ #include #include -namespace component_state_monitor +namespace autoware::component_state_monitor { // clang-format off @@ -73,6 +73,6 @@ class StateMonitor : public rclcpp::Node void on_diag(const DiagnosticArray::ConstSharedPtr msg); }; -} // namespace component_state_monitor +} // namespace autoware::component_state_monitor #endif // MAIN_HPP_ diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 438ee15f16f61..0bfb5137f9f23 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_default_adapi ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* feat: apply `autoware\_` prefix for `diagnostic_graph_utils` (`#9968 `_) +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* fix(obstacle_stop_planner): migrate planning factor (`#9939 `_) + * fix(obstacle_stop_planner): migrate planning factor + * fix(autoware_default_adapi): add coversion map + --------- +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: satoshi-ota +* feat(autoware_default_adapi): release adapi v1.6.0 (`#9704 `_) + * feat: reject clearing route during autonomous mode + * feat: modify check and relay door service + * fix door condition + * fix error and add option + * update v1.6.0 + --------- +* fix(autoware_default_adapi): fix bugprone-branch-clone (`#9726 `_) + fix: bugprone-error +* Contributors: Fumiya Watanabe, Junya Sasaki, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takagi, Isamu, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_default_adapi/document/autoware-state.md b/system/autoware_default_adapi/document/autoware-state.md index eb31a4d41bc1d..cb4d95af14c68 100644 --- a/system/autoware_default_adapi/document/autoware-state.md +++ b/system/autoware_default_adapi/document/autoware-state.md @@ -3,7 +3,7 @@ ## Overview Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility. -The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor. +The diagnostic checks that ad_service_state_monitor used to perform have been replaced by autoware_component_state_monitor. The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility. ![autoware-state-architecture](images/autoware-state-architecture.drawio.svg) diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 094882d0e4dd3..7442710a81741 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -2,7 +2,7 @@ autoware_default_adapi - 0.40.0 + 0.41.0 The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome @@ -17,13 +17,13 @@ autoware_adapi_version_msgs autoware_component_interface_specs_universe autoware_component_interface_utils + autoware_diagnostic_graph_utils autoware_geography_utils autoware_motion_utils autoware_planning_msgs autoware_system_msgs autoware_vehicle_info_utils autoware_vehicle_msgs - diagnostic_graph_utils geographic_msgs nav_msgs rclcpp diff --git a/system/autoware_default_adapi/src/diagnostics.hpp b/system/autoware_default_adapi/src/diagnostics.hpp index b382887aaa694..dfd94d9b06f2a 100644 --- a/system/autoware_default_adapi/src/diagnostics.hpp +++ b/system/autoware_default_adapi/src/diagnostics.hpp @@ -15,7 +15,7 @@ #ifndef DIAGNOSTICS_HPP_ #define DIAGNOSTICS_HPP_ -#include "diagnostic_graph_utils/subscription.hpp" +#include "autoware/diagnostic_graph_utils/subscription.hpp" #include @@ -31,14 +31,14 @@ class DiagnosticsNode : public rclcpp::Node explicit DiagnosticsNode(const rclcpp::NodeOptions & options); private: - using DiagGraph = diagnostic_graph_utils::DiagGraph; - using DiagUnit = diagnostic_graph_utils::DiagUnit; - using DiagLink = diagnostic_graph_utils::DiagLink; + using DiagGraph = autoware::diagnostic_graph_utils::DiagGraph; + using DiagUnit = autoware::diagnostic_graph_utils::DiagUnit; + using DiagLink = autoware::diagnostic_graph_utils::DiagLink; void on_create(DiagGraph::ConstSharedPtr graph); void on_update(DiagGraph::ConstSharedPtr graph); rclcpp::Publisher::SharedPtr pub_struct_; rclcpp::Publisher::SharedPtr pub_status_; - diagnostic_graph_utils::DiagGraphSubscription sub_graph_; + autoware::diagnostic_graph_utils::DiagGraphSubscription sub_graph_; }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst index b0d8f9b49cd59..488e0dc01c50e 100644 --- a/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst +++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst @@ -1,7 +1,15 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ad_api_adaptors +Changelog for package autoware_ad_api_adaptors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml index fa2f632f445a7..2febc33a7db47 100644 --- a/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml +++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml @@ -2,7 +2,7 @@ autoware_adapi_adaptors - 0.40.0 + 0.41.0 The adapi_adaptors package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst index d44fe830e75db..85f8701a228a7 100644 --- a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst +++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst @@ -1,7 +1,15 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ad_api_visualizers +Changelog for package autoware_ad_api_visualizers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml index a51e5b0b80b32..26da09537239e 100644 --- a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml +++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml @@ -2,7 +2,7 @@ autoware_adapi_visualizers - 0.40.0 + 0.41.0 The adapi_visualizers package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py index ee38c2feb0670..57d7adc3ddd35 100644 --- a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py +++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py @@ -11,7 +11,7 @@ setup( name=package_name, - version="0.40.0", + version="0.41.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst index 819a580c87f43..2028d4b4cdbcc 100644 --- a/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst +++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst @@ -1,7 +1,15 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package automatic_pose_initializer +Changelog for package autoware_automatic_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml index 606d0237b2d5d..7a0613dd1168d 100644 --- a/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml +++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_automatic_pose_initializer - 0.40.0 + 0.41.0 The automatic_pose_initializer package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/autoware_diagnostic_graph_aggregator/CHANGELOG.rst similarity index 93% rename from system/diagnostic_graph_aggregator/CHANGELOG.rst rename to system/autoware_diagnostic_graph_aggregator/CHANGELOG.rst index 51abe33dcfbdf..79b2dd9ff7345 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/autoware_diagnostic_graph_aggregator/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package diagnostic_graph_aggregator -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_diagnostic_graph_aggregator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/diagnostic_graph_aggregator/CMakeLists.txt b/system/autoware_diagnostic_graph_aggregator/CMakeLists.txt similarity index 89% rename from system/diagnostic_graph_aggregator/CMakeLists.txt rename to system/autoware_diagnostic_graph_aggregator/CMakeLists.txt index 4f18407e2a108..69882ad10bd81 100644 --- a/system/diagnostic_graph_aggregator/CMakeLists.txt +++ b/system/autoware_diagnostic_graph_aggregator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(diagnostic_graph_aggregator) +project(autoware_diagnostic_graph_aggregator) find_package(autoware_cmake REQUIRED) autoware_package() @@ -30,8 +30,8 @@ ament_auto_add_library(aggregator SHARED target_include_directories(aggregator PRIVATE src/common) rclcpp_components_register_node(aggregator - PLUGIN "diagnostic_graph_aggregator::AggregatorNode" - EXECUTABLE aggregator_node + PLUGIN "autoware::diagnostic_graph_aggregator::AggregatorNode" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) diff --git a/system/diagnostic_graph_aggregator/README.md b/system/autoware_diagnostic_graph_aggregator/README.md similarity index 94% rename from system/diagnostic_graph_aggregator/README.md rename to system/autoware_diagnostic_graph_aggregator/README.md index c0cd78e0610c2..892a2a381f324 100644 --- a/system/diagnostic_graph_aggregator/README.md +++ b/system/autoware_diagnostic_graph_aggregator/README.md @@ -1,4 +1,4 @@ -# diagnostic_graph_aggregator +# autoware_diagnostic_graph_aggregator ## Overview @@ -66,7 +66,7 @@ This is an example of a diagnostic graph configuration. The configuration can be - [module2.yaml](./example/graph/module2.yaml) ```bash -ros2 launch diagnostic_graph_aggregator example-main.launch.xml +ros2 launch autoware_diagnostic_graph_aggregator example-main.launch.xml ``` You can reuse the graph by making partial edits. For example, disable hardware checks for simulation. @@ -74,13 +74,13 @@ You can reuse the graph by making partial edits. For example, disable hardware c - [edit.yaml](./example/graph/edit.yaml) ```bash -ros2 launch diagnostic_graph_aggregator example-edit.launch.xml +ros2 launch autoware_diagnostic_graph_aggregator example-edit.launch.xml ``` ## Debug tools - [tree](./doc/tool/tree.md) -- [diagnostic_graph_utils](../diagnostic_graph_utils/README.md) +- [autoware_diagnostic_graph_utils](../autoware_diagnostic_graph_utils/README.md) ## Graph file format diff --git a/system/diagnostic_graph_aggregator/config/default.param.yaml b/system/autoware_diagnostic_graph_aggregator/config/default.param.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/config/default.param.yaml rename to system/autoware_diagnostic_graph_aggregator/config/default.param.yaml diff --git a/system/diagnostic_graph_aggregator/doc/format/edit.md b/system/autoware_diagnostic_graph_aggregator/doc/format/edit.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/edit.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/edit.md diff --git a/system/diagnostic_graph_aggregator/doc/format/edit/remove.md b/system/autoware_diagnostic_graph_aggregator/doc/format/edit/remove.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/edit/remove.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/edit/remove.md diff --git a/system/diagnostic_graph_aggregator/doc/format/graph.md b/system/autoware_diagnostic_graph_aggregator/doc/format/graph.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/graph.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/graph.md diff --git a/system/diagnostic_graph_aggregator/doc/format/path.md b/system/autoware_diagnostic_graph_aggregator/doc/format/path.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/path.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/path.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/and.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/and.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/and.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/and.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/const.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/const.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/const.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/const.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/diag.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/diag.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/diag.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/diag.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/link.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/link.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/link.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/link.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/or.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/or.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/or.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/or.md diff --git a/system/diagnostic_graph_aggregator/doc/format/unit/remap.md b/system/autoware_diagnostic_graph_aggregator/doc/format/unit/remap.md similarity index 100% rename from system/diagnostic_graph_aggregator/doc/format/unit/remap.md rename to system/autoware_diagnostic_graph_aggregator/doc/format/unit/remap.md diff --git a/system/diagnostic_graph_aggregator/doc/overview.drawio.svg b/system/autoware_diagnostic_graph_aggregator/doc/overview.drawio.svg similarity index 100% rename from system/diagnostic_graph_aggregator/doc/overview.drawio.svg rename to system/autoware_diagnostic_graph_aggregator/doc/overview.drawio.svg diff --git a/system/diagnostic_graph_aggregator/doc/tool/tree.md b/system/autoware_diagnostic_graph_aggregator/doc/tool/tree.md similarity index 83% rename from system/diagnostic_graph_aggregator/doc/tool/tree.md rename to system/autoware_diagnostic_graph_aggregator/doc/tool/tree.md index 12b664ecc48d6..2bbedcce4aeb4 100644 --- a/system/diagnostic_graph_aggregator/doc/tool/tree.md +++ b/system/autoware_diagnostic_graph_aggregator/doc/tool/tree.md @@ -5,13 +5,13 @@ This tool displays the graph structure of the configuration file in tree format. ## Usage ```bash -ros2 run diagnostic_graph_aggregator tree +ros2 run autoware_diagnostic_graph_aggregator tree ``` ## Examples ```bash -ros2 run diagnostic_graph_aggregator tree '$(find-pkg-share diagnostic_graph_aggregator)/example/graph/main.yaml' +ros2 run autoware_diagnostic_graph_aggregator tree '$(find-pkg-share autoware_diagnostic_graph_aggregator)/example/graph/main.yaml' ``` ```txt diff --git a/system/diagnostic_graph_aggregator/example/dummy-diags.py b/system/autoware_diagnostic_graph_aggregator/example/dummy-diags.py similarity index 100% rename from system/diagnostic_graph_aggregator/example/dummy-diags.py rename to system/autoware_diagnostic_graph_aggregator/example/dummy-diags.py diff --git a/system/autoware_diagnostic_graph_aggregator/example/example-edit.launch.xml b/system/autoware_diagnostic_graph_aggregator/example/example-edit.launch.xml new file mode 100644 index 0000000000000..1a15bbe929f6e --- /dev/null +++ b/system/autoware_diagnostic_graph_aggregator/example/example-edit.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/system/autoware_diagnostic_graph_aggregator/example/example-main.launch.xml b/system/autoware_diagnostic_graph_aggregator/example/example-main.launch.xml new file mode 100644 index 0000000000000..712da5128d09b --- /dev/null +++ b/system/autoware_diagnostic_graph_aggregator/example/example-main.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/system/diagnostic_graph_aggregator/example/graph/edit.yaml b/system/autoware_diagnostic_graph_aggregator/example/graph/edit.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/example/graph/edit.yaml rename to system/autoware_diagnostic_graph_aggregator/example/graph/edit.yaml diff --git a/system/diagnostic_graph_aggregator/example/graph/main.yaml b/system/autoware_diagnostic_graph_aggregator/example/graph/main.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/example/graph/main.yaml rename to system/autoware_diagnostic_graph_aggregator/example/graph/main.yaml diff --git a/system/diagnostic_graph_aggregator/example/graph/module1.yaml b/system/autoware_diagnostic_graph_aggregator/example/graph/module1.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/example/graph/module1.yaml rename to system/autoware_diagnostic_graph_aggregator/example/graph/module1.yaml diff --git a/system/diagnostic_graph_aggregator/example/graph/module2.yaml b/system/autoware_diagnostic_graph_aggregator/example/graph/module2.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/example/graph/module2.yaml rename to system/autoware_diagnostic_graph_aggregator/example/graph/module2.yaml diff --git a/system/autoware_diagnostic_graph_aggregator/launch/aggregator.launch.xml b/system/autoware_diagnostic_graph_aggregator/launch/aggregator.launch.xml new file mode 100644 index 0000000000000..89dac8e5f439b --- /dev/null +++ b/system/autoware_diagnostic_graph_aggregator/launch/aggregator.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/autoware_diagnostic_graph_aggregator/package.xml similarity index 84% rename from system/diagnostic_graph_aggregator/package.xml rename to system/autoware_diagnostic_graph_aggregator/package.xml index ae9266a3bf302..24a850760153a 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/autoware_diagnostic_graph_aggregator/package.xml @@ -1,10 +1,11 @@ - diagnostic_graph_aggregator - 0.40.0 + autoware_diagnostic_graph_aggregator + 0.41.0 The diagnostic_graph_aggregator package Takagi, Isamu + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/diagnostic_graph_aggregator/script/dump.py b/system/autoware_diagnostic_graph_aggregator/script/dump.py similarity index 100% rename from system/diagnostic_graph_aggregator/script/dump.py rename to system/autoware_diagnostic_graph_aggregator/script/dump.py diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/config.cpp similarity index 98% rename from system/diagnostic_graph_aggregator/src/common/graph/config.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/config.cpp index e622d089109f4..3b95d06befb8e 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -29,7 +29,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { std::string resolve_substitution(const std::string & substitution, const TreeData & data) @@ -309,4 +309,4 @@ FileConfig TreeLoader::construct() return config; } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/config.hpp similarity index 96% rename from system/diagnostic_graph_aggregator/src/common/graph/config.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/config.hpp index 935b65203afbe..f74f2ef721ee0 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/config.hpp @@ -23,7 +23,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { struct PathConfig @@ -98,6 +98,6 @@ class TreeLoader std::vector files_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__CONFIG_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/data.cpp similarity index 95% rename from system/diagnostic_graph_aggregator/src/common/graph/data.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/data.cpp index e1d053e6d259c..60fb356d41910 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/data.cpp @@ -16,7 +16,7 @@ #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { TreeData TreeData::Load(const std::string & path) @@ -96,4 +96,4 @@ double TreeData::real(double fail) return yaml_.as(fail); } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/data.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/data.hpp similarity index 93% rename from system/diagnostic_graph_aggregator/src/common/graph/data.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/data.hpp index 437e3793df398..6ddac7897746d 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/data.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/data.hpp @@ -23,7 +23,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class TreeData @@ -51,6 +51,6 @@ class TreeData TreePath path_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__DATA_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/error.cpp similarity index 93% rename from system/diagnostic_graph_aggregator/src/common/graph/error.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/error.cpp index 7a4336e62d8a3..976fc63aab8ab 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/error.cpp @@ -16,7 +16,7 @@ #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { TreePath::TreePath(const std::string & file) @@ -57,4 +57,4 @@ std::string TreePath::text() const return " (" + file_ + sep + node_ + ")"; } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/error.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/error.hpp similarity index 97% rename from system/diagnostic_graph_aggregator/src/common/graph/error.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/error.hpp index d923e12caf783..cef345a1243ca 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/error.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/error.hpp @@ -18,7 +18,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { struct TreePath @@ -127,6 +127,6 @@ struct GraphStructure : public Exception using Exception::Exception; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__ERROR_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.cpp similarity index 95% rename from system/diagnostic_graph_aggregator/src/common/graph/graph.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.cpp index 7977209b4905c..ff6c5a8db21ed 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.cpp @@ -22,7 +22,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { void Graph::create(const std::string & file, const std::string & id) @@ -77,4 +77,4 @@ DiagGraphStatus Graph::create_status(const rclcpp::Time & stamp) const Graph::Graph() = default; Graph::~Graph() = default; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.hpp similarity index 94% rename from system/diagnostic_graph_aggregator/src/common/graph/graph.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.hpp index 14a27dae9a539..13362613d9952 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.hpp @@ -24,7 +24,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class Graph @@ -51,6 +51,6 @@ class Graph std::string id_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__GRAPH_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.cpp similarity index 98% rename from system/diagnostic_graph_aggregator/src/common/graph/loader.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.cpp index 5edef61340fe8..8a21a4f47951e 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.cpp @@ -26,7 +26,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { struct UnitLoader::GraphLinks @@ -190,4 +190,4 @@ std::unique_ptr GraphLoader::create_node(const UnitLoader & unit) throw UnknownUnitType(unit.data().path(), unit.type()); } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/loader.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.hpp similarity index 94% rename from system/diagnostic_graph_aggregator/src/common/graph/loader.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.hpp index 226b3ab279b22..c9f6923c5bcfd 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/loader.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.hpp @@ -22,7 +22,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class UnitLoader @@ -62,6 +62,6 @@ class GraphLoader std::vector> links_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__LOADER_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/names.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/names.hpp similarity index 83% rename from system/diagnostic_graph_aggregator/src/common/graph/names.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/names.hpp index aa5a9c46e7b37..36645b320f496 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/names.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/names.hpp @@ -15,7 +15,7 @@ #ifndef COMMON__GRAPH__NAMES_HPP_ #define COMMON__GRAPH__NAMES_HPP_ -namespace diagnostic_graph_aggregator::unit_name +namespace autoware::diagnostic_graph_aggregator::unit_name { constexpr char const * link = "link"; @@ -30,13 +30,13 @@ constexpr char const * warn = "warn"; constexpr char const * error = "error"; constexpr char const * stale = "stale"; -} // namespace diagnostic_graph_aggregator::unit_name +} // namespace autoware::diagnostic_graph_aggregator::unit_name -namespace diagnostic_graph_aggregator::edit_name +namespace autoware::diagnostic_graph_aggregator::edit_name { constexpr char const * remove = "remove"; -} // namespace diagnostic_graph_aggregator::edit_name +} // namespace autoware::diagnostic_graph_aggregator::edit_name #endif // COMMON__GRAPH__NAMES_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/types.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/types.hpp similarity index 95% rename from system/diagnostic_graph_aggregator/src/common/graph/types.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/types.hpp index 6eae26a1f98c7..f7844b3d1b327 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/types.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/types.hpp @@ -31,7 +31,7 @@ #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { using diagnostic_msgs::msg::DiagnosticArray; @@ -59,6 +59,6 @@ class DiagUnit; class Graph; class UnitLoader; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__TYPES_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/units.cpp similarity index 98% rename from system/diagnostic_graph_aggregator/src/common/graph/units.cpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/units.cpp index 5ebd603964add..3d7919027aae5 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/units.cpp @@ -20,7 +20,7 @@ #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { void UnitLink::initialize_object(BaseUnit * parent, BaseUnit * child) @@ -226,4 +226,4 @@ StaleUnit::StaleUnit(const UnitLoader & unit) : ConstUnit(unit) status_.level = DiagnosticStatus::STALE; } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/units.hpp b/system/autoware_diagnostic_graph_aggregator/src/common/graph/units.hpp similarity index 98% rename from system/diagnostic_graph_aggregator/src/common/graph/units.hpp rename to system/autoware_diagnostic_graph_aggregator/src/common/graph/units.hpp index 323053db08385..248f4694c17ae 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/units.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/common/graph/units.hpp @@ -24,7 +24,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class UnitLink @@ -225,6 +225,6 @@ class StaleUnit : public ConstUnit std::string type() const override { return unit_name::stale; } }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // COMMON__GRAPH__UNITS_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp b/system/autoware_diagnostic_graph_aggregator/src/node/aggregator.cpp similarity index 94% rename from system/diagnostic_graph_aggregator/src/node/aggregator.cpp rename to system/autoware_diagnostic_graph_aggregator/src/node/aggregator.cpp index 4d2ec73bfceca..ac0fa587895e5 100644 --- a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/node/aggregator.cpp @@ -18,7 +18,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { AggregatorNode::AggregatorNode(const rclcpp::NodeOptions & options) : Node("aggregator", options) @@ -97,7 +97,7 @@ void AggregatorNode::on_diag(const DiagnosticArray & msg) // pub_status_->publish(); } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #include -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_aggregator::AggregatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::diagnostic_graph_aggregator::AggregatorNode) diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp b/system/autoware_diagnostic_graph_aggregator/src/node/aggregator.hpp similarity index 93% rename from system/diagnostic_graph_aggregator/src/node/aggregator.hpp rename to system/autoware_diagnostic_graph_aggregator/src/node/aggregator.hpp index f71780f19a5c7..53e2ba3562aaa 100644 --- a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/node/aggregator.hpp @@ -24,7 +24,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class AggregatorNode : public rclcpp::Node @@ -48,6 +48,6 @@ class AggregatorNode : public rclcpp::Node std::unordered_map unknown_diags_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // NODE__AGGREGATOR_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/node/availability.cpp b/system/autoware_diagnostic_graph_aggregator/src/node/availability.cpp similarity index 96% rename from system/diagnostic_graph_aggregator/src/node/availability.cpp rename to system/autoware_diagnostic_graph_aggregator/src/node/availability.cpp index 60ad418799716..df232143aa005 100644 --- a/system/diagnostic_graph_aggregator/src/node/availability.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/node/availability.cpp @@ -22,7 +22,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { ModesAvailability::ModesAvailability(rclcpp::Node & node, const Graph & graph) @@ -73,4 +73,4 @@ void ModesAvailability::update(const rclcpp::Time & stamp) const pub_->publish(message); } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/node/availability.hpp b/system/autoware_diagnostic_graph_aggregator/src/node/availability.hpp similarity index 93% rename from system/diagnostic_graph_aggregator/src/node/availability.hpp rename to system/autoware_diagnostic_graph_aggregator/src/node/availability.hpp index c91db089266f5..f93b19fd55046 100644 --- a/system/diagnostic_graph_aggregator/src/node/availability.hpp +++ b/system/autoware_diagnostic_graph_aggregator/src/node/availability.hpp @@ -21,7 +21,7 @@ #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { class ModesAvailability @@ -44,6 +44,6 @@ class ModesAvailability BaseUnit * pull_over_mrm_; }; -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator #endif // NODE__AVAILABILITY_HPP_ diff --git a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp b/system/autoware_diagnostic_graph_aggregator/src/tool/plantuml.cpp similarity index 88% rename from system/diagnostic_graph_aggregator/src/tool/plantuml.cpp rename to system/autoware_diagnostic_graph_aggregator/src/tool/plantuml.cpp index 68c0082908430..a87df3c47a19f 100644 --- a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/tool/plantuml.cpp @@ -18,7 +18,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { void dump_root(const std::string & path) @@ -40,7 +40,7 @@ void dump_root(const std::string & path) } } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator int main(int argc, char ** argv) { @@ -48,5 +48,5 @@ int main(int argc, char ** argv) std::cerr << "usage: plantuml " << std::endl; return 1; } - diagnostic_graph_aggregator::dump_root(argv[1]); + autoware::diagnostic_graph_aggregator::dump_root(argv[1]); } diff --git a/system/diagnostic_graph_aggregator/src/tool/tree.cpp b/system/autoware_diagnostic_graph_aggregator/src/tool/tree.cpp similarity index 92% rename from system/diagnostic_graph_aggregator/src/tool/tree.cpp rename to system/autoware_diagnostic_graph_aggregator/src/tool/tree.cpp index f367ec2113808..f37f0c3e575a7 100644 --- a/system/diagnostic_graph_aggregator/src/tool/tree.cpp +++ b/system/autoware_diagnostic_graph_aggregator/src/tool/tree.cpp @@ -18,7 +18,7 @@ #include #include -namespace diagnostic_graph_aggregator +namespace autoware::diagnostic_graph_aggregator { void dump_unit(const BaseUnit * unit, const std::string & indent = "", bool root = true) @@ -60,7 +60,7 @@ void dump_root(const std::string & path) } } -} // namespace diagnostic_graph_aggregator +} // namespace autoware::diagnostic_graph_aggregator int main(int argc, char ** argv) { @@ -68,5 +68,5 @@ int main(int argc, char ** argv) std::cerr << "usage: tree " << std::endl; return 1; } - diagnostic_graph_aggregator::dump_root(argv[1]); + autoware::diagnostic_graph_aggregator::dump_root(argv[1]); } diff --git a/system/diagnostic_graph_aggregator/test/files/test1/field-not-found.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/field-not-found.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/field-not-found.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/field-not-found.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/file-not-found.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/file-not-found.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/file-not-found.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/file-not-found.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/graph-circulation.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/graph-circulation.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/graph-circulation.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/graph-circulation.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/invalid-dict-type.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/invalid-dict-type.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/invalid-dict-type.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/invalid-dict-type.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/invalid-list-type.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/invalid-list-type.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/invalid-list-type.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/invalid-list-type.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/path-conflict.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/path-conflict.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/path-conflict.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/path-conflict.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/path-not-found.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/path-not-found.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/path-not-found.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/path-not-found.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/unknown-substitution.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/unknown-substitution.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/unknown-substitution.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/unknown-substitution.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test1/unknown-unit-type.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test1/unknown-unit-type.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test1/unknown-unit-type.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test1/unknown-unit-type.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test2/and.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test2/and.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test2/and.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test2/and.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test2/or.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test2/or.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test2/or.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test2/or.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test2/warn-to-error.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test2/warn-to-error.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test2/warn-to-error.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test2/warn-to-error.yaml diff --git a/system/diagnostic_graph_aggregator/test/files/test2/warn-to-ok.yaml b/system/autoware_diagnostic_graph_aggregator/test/files/test2/warn-to-ok.yaml similarity index 100% rename from system/diagnostic_graph_aggregator/test/files/test2/warn-to-ok.yaml rename to system/autoware_diagnostic_graph_aggregator/test/files/test2/warn-to-ok.yaml diff --git a/system/diagnostic_graph_aggregator/test/src/test1.cpp b/system/autoware_diagnostic_graph_aggregator/test/src/test1.cpp similarity index 96% rename from system/diagnostic_graph_aggregator/test/src/test1.cpp rename to system/autoware_diagnostic_graph_aggregator/test/src/test1.cpp index ea157852675ec..30182314df48f 100644 --- a/system/diagnostic_graph_aggregator/test/src/test1.cpp +++ b/system/autoware_diagnostic_graph_aggregator/test/src/test1.cpp @@ -18,7 +18,7 @@ #include -using namespace diagnostic_graph_aggregator; // NOLINT(build/namespaces) +using namespace autoware::diagnostic_graph_aggregator; // NOLINT(build/namespaces) TEST(ConfigFile, RootNotFound) { diff --git a/system/diagnostic_graph_aggregator/test/src/test2.cpp b/system/autoware_diagnostic_graph_aggregator/test/src/test2.cpp similarity index 98% rename from system/diagnostic_graph_aggregator/test/src/test2.cpp rename to system/autoware_diagnostic_graph_aggregator/test/src/test2.cpp index 169e3017f8cd4..d0f9a8c2e2557 100644 --- a/system/diagnostic_graph_aggregator/test/src/test2.cpp +++ b/system/autoware_diagnostic_graph_aggregator/test/src/test2.cpp @@ -25,7 +25,7 @@ #include #include -using namespace diagnostic_graph_aggregator; // NOLINT(build/namespaces) +using namespace autoware::diagnostic_graph_aggregator; // NOLINT(build/namespaces) using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; diff --git a/system/diagnostic_graph_aggregator/test/src/utils.cpp b/system/autoware_diagnostic_graph_aggregator/test/src/utils.cpp similarity index 100% rename from system/diagnostic_graph_aggregator/test/src/utils.cpp rename to system/autoware_diagnostic_graph_aggregator/test/src/utils.cpp diff --git a/system/diagnostic_graph_aggregator/test/src/utils.hpp b/system/autoware_diagnostic_graph_aggregator/test/src/utils.hpp similarity index 100% rename from system/diagnostic_graph_aggregator/test/src/utils.hpp rename to system/autoware_diagnostic_graph_aggregator/test/src/utils.hpp diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/autoware_diagnostic_graph_utils/CHANGELOG.rst similarity index 92% rename from system/diagnostic_graph_utils/CHANGELOG.rst rename to system/autoware_diagnostic_graph_utils/CHANGELOG.rst index 857671f77fd94..e4c93b3283b6c 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/autoware_diagnostic_graph_utils/CHANGELOG.rst @@ -1,7 +1,13 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package diagnostic_graph_utils +Changelog for package autoware_diagnostic_graph_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `diagnostic_graph_utils` (`#9968 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/diagnostic_graph_utils/CMakeLists.txt b/system/autoware_diagnostic_graph_utils/CMakeLists.txt similarity index 74% rename from system/diagnostic_graph_utils/CMakeLists.txt rename to system/autoware_diagnostic_graph_utils/CMakeLists.txt index 0c36964f49237..b1de417b1bc7d 100644 --- a/system/diagnostic_graph_utils/CMakeLists.txt +++ b/system/autoware_diagnostic_graph_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(diagnostic_graph_utils) +project(autoware_diagnostic_graph_utils) find_package(autoware_cmake REQUIRED) autoware_package() @@ -16,17 +16,17 @@ ament_auto_add_library(${PROJECT_NAME}_tools SHARED ) rclcpp_components_register_node(${PROJECT_NAME}_tools - PLUGIN "diagnostic_graph_utils::DumpNode" + PLUGIN "autoware::diagnostic_graph_utils::DumpNode" EXECUTABLE dump_node ) rclcpp_components_register_node(${PROJECT_NAME}_tools - PLUGIN "diagnostic_graph_utils::ConverterNode" + PLUGIN "autoware::diagnostic_graph_utils::ConverterNode" EXECUTABLE converter_node ) rclcpp_components_register_node(${PROJECT_NAME}_tools - PLUGIN "diagnostic_graph_utils::LoggingNode" + PLUGIN "autoware::diagnostic_graph_utils::LoggingNode" EXECUTABLE logging_node ) diff --git a/system/diagnostic_graph_utils/README.md b/system/autoware_diagnostic_graph_utils/README.md similarity index 55% rename from system/diagnostic_graph_utils/README.md rename to system/autoware_diagnostic_graph_utils/README.md index a06d664622bff..ac941a3575445 100644 --- a/system/diagnostic_graph_utils/README.md +++ b/system/autoware_diagnostic_graph_utils/README.md @@ -1,4 +1,4 @@ -# diagnostic_graph_utils +# autoware_diagnostic_graph_utils This package is a utility for diagnostic graph published by [diagnostic_graph_aggregator](../diagnostic_graph_aggregator/README.md). @@ -9,5 +9,5 @@ This package is a utility for diagnostic graph published by [diagnostic_graph_ag ## C++ library -- [DiagGraph](./include/diagnostic_graph_utils/graph.hpp) -- [DiagGraphSubscription](./include/diagnostic_graph_utils/subscription.hpp) +- [DiagGraph](./include/autoware/diagnostic_graph_utils/graph.hpp) +- [DiagGraphSubscription](./include/autoware/diagnostic_graph_utils/subscription.hpp) diff --git a/system/diagnostic_graph_utils/doc/node/converter.md b/system/autoware_diagnostic_graph_utils/doc/node/converter.md similarity index 80% rename from system/diagnostic_graph_utils/doc/node/converter.md rename to system/autoware_diagnostic_graph_utils/doc/node/converter.md index 407a99c87f73e..a7793b815c0b7 100644 --- a/system/diagnostic_graph_utils/doc/node/converter.md +++ b/system/autoware_diagnostic_graph_utils/doc/node/converter.md @@ -5,7 +5,7 @@ This tool converts `/diagnostics_graph` to `/diagnostics_array` so it can be rea ## Usage ```bash -ros2 run diagnostic_graph_utils converter_node +ros2 run autoware_diagnostic_graph_utils converter_node ``` ## Examples @@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml Terminal 2: ```bash -ros2 run diagnostic_graph_utils converter_node +ros2 run autoware_diagnostic_graph_utils converter_node ``` Terminal 3: diff --git a/system/diagnostic_graph_utils/doc/node/dump.md b/system/autoware_diagnostic_graph_utils/doc/node/dump.md similarity index 93% rename from system/diagnostic_graph_utils/doc/node/dump.md rename to system/autoware_diagnostic_graph_utils/doc/node/dump.md index c76bb85ed75cb..fac23d655ed64 100644 --- a/system/diagnostic_graph_utils/doc/node/dump.md +++ b/system/autoware_diagnostic_graph_utils/doc/node/dump.md @@ -5,7 +5,7 @@ This tool displays `/diagnostics_graph` in table format. ## Usage ```bash -ros2 run diagnostic_graph_utils dump_node +ros2 run autoware_diagnostic_graph_utils dump_node ``` ## Examples @@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml Terminal 2: ```bash -ros2 run diagnostic_graph_utils dump_node +ros2 run autoware_diagnostic_graph_utils dump_node ``` Output: diff --git a/system/diagnostic_graph_utils/doc/node/images/rqt_runtime_monitor.png b/system/autoware_diagnostic_graph_utils/doc/node/images/rqt_runtime_monitor.png similarity index 100% rename from system/diagnostic_graph_utils/doc/node/images/rqt_runtime_monitor.png rename to system/autoware_diagnostic_graph_utils/doc/node/images/rqt_runtime_monitor.png diff --git a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp b/system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/graph.hpp similarity index 94% rename from system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp rename to system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/graph.hpp index 275e4ffcb1c7e..3114ffe108b5b 100644 --- a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp +++ b/system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/graph.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ -#define DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ +#ifndef AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ +#define AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ #include @@ -27,7 +27,7 @@ #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { class DiagLink; @@ -139,6 +139,6 @@ class DiagGraph std::vector> links_; }; -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils -#endif // DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ +#endif // AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__GRAPH_HPP_ diff --git a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/subscription.hpp b/system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/subscription.hpp similarity index 82% rename from system/diagnostic_graph_utils/include/diagnostic_graph_utils/subscription.hpp rename to system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/subscription.hpp index 5aebde7ea3a38..97a110d0305b0 100644 --- a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/subscription.hpp +++ b/system/autoware_diagnostic_graph_utils/include/autoware/diagnostic_graph_utils/subscription.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ -#define DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ +#ifndef AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ +#define AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ -#include "diagnostic_graph_utils/graph.hpp" +#include "autoware/diagnostic_graph_utils/graph.hpp" #include #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { class DiagGraphSubscription @@ -48,6 +48,6 @@ class DiagGraphSubscription CallbackType update_callback_; }; -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils -#endif // DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ +#endif // AUTOWARE__DIAGNOSTIC_GRAPH_UTILS__SUBSCRIPTION_HPP_ diff --git a/system/diagnostic_graph_utils/launch/logging.launch.xml b/system/autoware_diagnostic_graph_utils/launch/logging.launch.xml similarity index 79% rename from system/diagnostic_graph_utils/launch/logging.launch.xml rename to system/autoware_diagnostic_graph_utils/launch/logging.launch.xml index f14a045919599..fd1d998ac9f22 100644 --- a/system/diagnostic_graph_utils/launch/logging.launch.xml +++ b/system/autoware_diagnostic_graph_utils/launch/logging.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/system/diagnostic_graph_utils/package.xml b/system/autoware_diagnostic_graph_utils/package.xml similarity index 77% rename from system/diagnostic_graph_utils/package.xml rename to system/autoware_diagnostic_graph_utils/package.xml index 9c860d62a7928..527fa1a201e05 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/autoware_diagnostic_graph_utils/package.xml @@ -1,10 +1,11 @@ - diagnostic_graph_utils - 0.40.0 - The diagnostic_graph_utils package + autoware_diagnostic_graph_utils + 0.41.0 + The autoware_diagnostic_graph_utils package Takagi, Isamu + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/diagnostic_graph_utils/src/lib/graph.cpp b/system/autoware_diagnostic_graph_utils/src/lib/graph.cpp similarity index 95% rename from system/diagnostic_graph_utils/src/lib/graph.cpp rename to system/autoware_diagnostic_graph_utils/src/lib/graph.cpp index 007b42547bee1..6bee048f23400 100644 --- a/system/diagnostic_graph_utils/src/lib/graph.cpp +++ b/system/autoware_diagnostic_graph_utils/src/lib/graph.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "diagnostic_graph_utils/graph.hpp" +#include "autoware/diagnostic_graph_utils/graph.hpp" #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { DiagUnit::DiagnosticStatus DiagNode::create_diagnostic_status() const @@ -112,4 +112,4 @@ std::vector DiagGraph::links() const return create_ptrs(links_); } -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils diff --git a/system/diagnostic_graph_utils/src/lib/subscription.cpp b/system/autoware_diagnostic_graph_utils/src/lib/subscription.cpp similarity index 92% rename from system/diagnostic_graph_utils/src/lib/subscription.cpp rename to system/autoware_diagnostic_graph_utils/src/lib/subscription.cpp index c10481ef8f16e..b1464fd2a6ccc 100644 --- a/system/diagnostic_graph_utils/src/lib/subscription.cpp +++ b/system/autoware_diagnostic_graph_utils/src/lib/subscription.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "diagnostic_graph_utils/subscription.hpp" +#include "autoware/diagnostic_graph_utils/subscription.hpp" #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { DiagGraphSubscription::DiagGraphSubscription() @@ -66,4 +66,4 @@ void DiagGraphSubscription::on_status(const DiagGraphStatus & msg) } } -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils diff --git a/system/diagnostic_graph_utils/src/node/converter.cpp b/system/autoware_diagnostic_graph_utils/src/node/converter.cpp similarity index 88% rename from system/diagnostic_graph_utils/src/node/converter.cpp rename to system/autoware_diagnostic_graph_utils/src/node/converter.cpp index 159cc6e0c3cab..8ab7f98457cae 100644 --- a/system/diagnostic_graph_utils/src/node/converter.cpp +++ b/system/autoware_diagnostic_graph_utils/src/node/converter.cpp @@ -16,7 +16,7 @@ #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { ConverterNode::ConverterNode(const rclcpp::NodeOptions & options) : Node("converter", options) @@ -38,7 +38,7 @@ void ConverterNode::on_update(DiagGraph::ConstSharedPtr graph) pub_array_->publish(array); } -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #include -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::ConverterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::diagnostic_graph_utils::ConverterNode) diff --git a/system/diagnostic_graph_utils/src/node/converter.hpp b/system/autoware_diagnostic_graph_utils/src/node/converter.hpp similarity index 89% rename from system/diagnostic_graph_utils/src/node/converter.hpp rename to system/autoware_diagnostic_graph_utils/src/node/converter.hpp index 19364a8ff8240..d47d27c9626ca 100644 --- a/system/diagnostic_graph_utils/src/node/converter.hpp +++ b/system/autoware_diagnostic_graph_utils/src/node/converter.hpp @@ -15,14 +15,14 @@ #ifndef NODE__CONVERTER_HPP_ #define NODE__CONVERTER_HPP_ -#include "diagnostic_graph_utils/subscription.hpp" +#include "autoware/diagnostic_graph_utils/subscription.hpp" #include #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { class ConverterNode : public rclcpp::Node @@ -38,6 +38,6 @@ class ConverterNode : public rclcpp::Node DiagGraphSubscription sub_graph_; }; -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #endif // NODE__CONVERTER_HPP_ diff --git a/system/diagnostic_graph_utils/src/node/dump.cpp b/system/autoware_diagnostic_graph_utils/src/node/dump.cpp similarity index 96% rename from system/diagnostic_graph_utils/src/node/dump.cpp rename to system/autoware_diagnostic_graph_utils/src/node/dump.cpp index 42c66224b2c37..3999c2698a087 100644 --- a/system/diagnostic_graph_utils/src/node/dump.cpp +++ b/system/autoware_diagnostic_graph_utils/src/node/dump.cpp @@ -22,7 +22,7 @@ #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { DumpNode::DumpNode(const rclcpp::NodeOptions & options) : Node("dump", options) @@ -131,7 +131,7 @@ void DumpNode::on_update(DiagGraph::ConstSharedPtr graph) } } -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #include -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::DumpNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::diagnostic_graph_utils::DumpNode) diff --git a/system/diagnostic_graph_utils/src/node/dump.hpp b/system/autoware_diagnostic_graph_utils/src/node/dump.hpp similarity index 88% rename from system/diagnostic_graph_utils/src/node/dump.hpp rename to system/autoware_diagnostic_graph_utils/src/node/dump.hpp index c990fb77a53db..9412692fa530c 100644 --- a/system/diagnostic_graph_utils/src/node/dump.hpp +++ b/system/autoware_diagnostic_graph_utils/src/node/dump.hpp @@ -15,14 +15,14 @@ #ifndef NODE__DUMP_HPP_ #define NODE__DUMP_HPP_ -#include "diagnostic_graph_utils/subscription.hpp" +#include "autoware/diagnostic_graph_utils/subscription.hpp" #include #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { class DumpNode : public rclcpp::Node @@ -47,6 +47,6 @@ class DumpNode : public rclcpp::Node std::string border_; }; -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #endif // NODE__DUMP_HPP_ diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/autoware_diagnostic_graph_utils/src/node/logging.cpp similarity index 95% rename from system/diagnostic_graph_utils/src/node/logging.cpp rename to system/autoware_diagnostic_graph_utils/src/node/logging.cpp index 2dfc939469172..abe59ac28031d 100644 --- a/system/diagnostic_graph_utils/src/node/logging.cpp +++ b/system/autoware_diagnostic_graph_utils/src/node/logging.cpp @@ -22,7 +22,7 @@ #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { LoggingNode::LoggingNode(const rclcpp::NodeOptions & options) : Node("logging", options) @@ -107,7 +107,7 @@ void LoggingNode::dump_unit(DiagUnit * unit, int depth, const std::string & inde } } -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #include -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::LoggingNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::diagnostic_graph_utils::LoggingNode) diff --git a/system/diagnostic_graph_utils/src/node/logging.hpp b/system/autoware_diagnostic_graph_utils/src/node/logging.hpp similarity index 90% rename from system/diagnostic_graph_utils/src/node/logging.hpp rename to system/autoware_diagnostic_graph_utils/src/node/logging.hpp index 81acfcd2ad82f..cbf28c3908105 100644 --- a/system/diagnostic_graph_utils/src/node/logging.hpp +++ b/system/autoware_diagnostic_graph_utils/src/node/logging.hpp @@ -15,7 +15,7 @@ #ifndef NODE__LOGGING_HPP_ #define NODE__LOGGING_HPP_ -#include "diagnostic_graph_utils/subscription.hpp" +#include "autoware/diagnostic_graph_utils/subscription.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace diagnostic_graph_utils +namespace autoware::diagnostic_graph_utils { class LoggingNode : public rclcpp::Node @@ -48,6 +48,6 @@ class LoggingNode : public rclcpp::Node bool enable_terminal_log_; }; -} // namespace diagnostic_graph_utils +} // namespace autoware::diagnostic_graph_utils #endif // NODE__LOGGING_HPP_ diff --git a/system/autoware_dummy_diag_publisher/CHANGELOG.rst b/system/autoware_dummy_diag_publisher/CHANGELOG.rst index 4652837056220..dfbb265f511e1 100644 --- a/system/autoware_dummy_diag_publisher/CHANGELOG.rst +++ b/system/autoware_dummy_diag_publisher/CHANGELOG.rst @@ -1,7 +1,18 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package dummy_diag_publisher +Changelog for package autoware_dummy_diag_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_dummy_diag_publisher): add autowre prefix (`#9958 `_) + * fic: add autoare\_ prefix + * fix: add autoare\_ prefix codeowner + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, TetsuKawa + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_dummy_diag_publisher/package.xml b/system/autoware_dummy_diag_publisher/package.xml index d9e212f922102..0b45cc9643df5 100644 --- a/system/autoware_dummy_diag_publisher/package.xml +++ b/system/autoware_dummy_diag_publisher/package.xml @@ -2,7 +2,7 @@ autoware_dummy_diag_publisher - 0.40.0 + 0.41.0 The dummy_diag_publisher ROS 2 package Fumihito Ito TetsuKawa diff --git a/system/autoware_dummy_infrastructure/CHANGELOG.rst b/system/autoware_dummy_infrastructure/CHANGELOG.rst index f42190ddc4b82..f59db749a4bc9 100644 --- a/system/autoware_dummy_infrastructure/CHANGELOG.rst +++ b/system/autoware_dummy_infrastructure/CHANGELOG.rst @@ -2,6 +2,31 @@ Changelog for package autoware_dummy_infrastructure ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `dummy_infrastructure` (`#9969 `_) + * feat(dummy_infrastructure): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(dummy_infrastructure): move a header under `include/autoware` + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(dummy_infrastructure): fix include header path + * To follow the previous commit + * rename: `dummy_infrastructure` => `autoware_dummy_infrastructure` + * bug(autoware_dummy_infrastructure): revert wrongly updated copyrights + * update(autoware_dummy_infrastructure): `README.md` + * update: `CODEOWNERS` + * fix(autoware_dummy_infrastructure): fix package name in CHANGELOG.rst + * docs(autoware_dummy_infrastructure): fix package name in README and package description + --------- + Co-authored-by: Ryohsuke Mitsudome + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" diff --git a/system/autoware_dummy_infrastructure/package.xml b/system/autoware_dummy_infrastructure/package.xml index fd710eb1efeb0..4bfb322dd7fc3 100644 --- a/system/autoware_dummy_infrastructure/package.xml +++ b/system/autoware_dummy_infrastructure/package.xml @@ -2,7 +2,7 @@ autoware_dummy_infrastructure - 0.40.0 + 0.41.0 autoware_dummy_infrastructure Ryohsuke Mitsudome Junya Sasaki diff --git a/system/autoware_duplicated_node_checker/CHANGELOG.rst b/system/autoware_duplicated_node_checker/CHANGELOG.rst index 605012c898598..8bad33913194f 100644 --- a/system/autoware_duplicated_node_checker/CHANGELOG.rst +++ b/system/autoware_duplicated_node_checker/CHANGELOG.rst @@ -1,7 +1,30 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package duplicated_node_checker +Changelog for package autoware_duplicated_node_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `duplicated_node_checker` (`#9970 `_) + * feat(duplicated_node_checker): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(duplicated_node_checker): move a header under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(duplicated_node_checker): fix include header path + * To follow the previous commit + * rename: `duplicated_node_checker` => `autoware_duplicated_node_checker` + * style(pre-commit): autofix + * bug(autoware_duplicated_node_checker): revert wrongly updated copyrights + * update(autoware_duplicated_node_checker): `README.md` + * update: `CODEOWNERS` + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_duplicated_node_checker/package.xml b/system/autoware_duplicated_node_checker/package.xml index c49d8304f1968..eab99982cccf6 100644 --- a/system/autoware_duplicated_node_checker/package.xml +++ b/system/autoware_duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ autoware_duplicated_node_checker - 0.40.0 + 0.41.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/autoware_hazard_status_converter/CHANGELOG.rst similarity index 87% rename from system/hazard_status_converter/CHANGELOG.rst rename to system/autoware_hazard_status_converter/CHANGELOG.rst index a0c8e0ae193d1..176d49e24579c 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/autoware_hazard_status_converter/CHANGELOG.rst @@ -1,6 +1,13 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package hazard_status_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_hazard_status_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `diagnostic_graph_utils` (`#9968 `_) +* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/hazard_status_converter/CMakeLists.txt b/system/autoware_hazard_status_converter/CMakeLists.txt similarity index 66% rename from system/hazard_status_converter/CMakeLists.txt rename to system/autoware_hazard_status_converter/CMakeLists.txt index b253f9fc51f2b..b49a67f24a693 100644 --- a/system/hazard_status_converter/CMakeLists.txt +++ b/system/autoware_hazard_status_converter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(hazard_status_converter) +project(autoware_hazard_status_converter) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,8 +9,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "hazard_status_converter::Converter" - EXECUTABLE converter + PLUGIN "autoware::hazard_status_converter::Converter" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml b/system/autoware_hazard_status_converter/launch/hazard_status_converter.launch.xml similarity index 66% rename from system/hazard_status_converter/launch/hazard_status_converter.launch.xml rename to system/autoware_hazard_status_converter/launch/hazard_status_converter.launch.xml index 84318a921d4ce..26164c5ad50b0 100644 --- a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml +++ b/system/autoware_hazard_status_converter/launch/hazard_status_converter.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/system/hazard_status_converter/package.xml b/system/autoware_hazard_status_converter/package.xml similarity index 75% rename from system/hazard_status_converter/package.xml rename to system/autoware_hazard_status_converter/package.xml index 80cc53c08e16d..ba501e70003d5 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/autoware_hazard_status_converter/package.xml @@ -1,19 +1,20 @@ - hazard_status_converter - 0.40.0 - The hazard_status_converter package + autoware_hazard_status_converter + 0.41.0 + The autoware_hazard_status_converter package Takagi, Isamu + Junya Sasaki Apache License 2.0 ament_cmake_auto autoware_cmake autoware_adapi_v1_msgs + autoware_diagnostic_graph_utils autoware_system_msgs autoware_universe_utils - diagnostic_graph_utils diagnostic_msgs rclcpp rclcpp_components diff --git a/system/hazard_status_converter/src/converter.cpp b/system/autoware_hazard_status_converter/src/converter.cpp similarity index 96% rename from system/hazard_status_converter/src/converter.cpp rename to system/autoware_hazard_status_converter/src/converter.cpp index 52cfef93aa522..9faf4e186e06c 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/autoware_hazard_status_converter/src/converter.cpp @@ -18,7 +18,7 @@ #include #include -namespace hazard_status_converter +namespace autoware::hazard_status_converter { Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", options) @@ -125,7 +125,7 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph) pub_hazard_->publish(hazard); } -} // namespace hazard_status_converter +} // namespace autoware::hazard_status_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(hazard_status_converter::Converter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::hazard_status_converter::Converter) diff --git a/system/hazard_status_converter/src/converter.hpp b/system/autoware_hazard_status_converter/src/converter.hpp similarity index 81% rename from system/hazard_status_converter/src/converter.hpp rename to system/autoware_hazard_status_converter/src/converter.hpp index 8011b911f3d42..01b28a54c4413 100644 --- a/system/hazard_status_converter/src/converter.hpp +++ b/system/autoware_hazard_status_converter/src/converter.hpp @@ -15,8 +15,8 @@ #ifndef CONVERTER_HPP_ #define CONVERTER_HPP_ +#include #include -#include #include #include @@ -24,7 +24,7 @@ #include -namespace hazard_status_converter +namespace autoware::hazard_status_converter { class Converter : public rclcpp::Node @@ -34,11 +34,11 @@ class Converter : public rclcpp::Node private: using HazardStatusStamped = autoware_system_msgs::msg::HazardStatusStamped; - using DiagGraph = diagnostic_graph_utils::DiagGraph; - using DiagUnit = diagnostic_graph_utils::DiagUnit; + using DiagGraph = autoware::diagnostic_graph_utils::DiagGraph; + using DiagUnit = autoware::diagnostic_graph_utils::DiagUnit; void on_create(DiagGraph::ConstSharedPtr graph); void on_update(DiagGraph::ConstSharedPtr graph); - diagnostic_graph_utils::DiagGraphSubscription sub_graph_; + autoware::diagnostic_graph_utils::DiagGraphSubscription sub_graph_; rclcpp::Publisher::SharedPtr pub_hazard_; autoware::universe_utils::InterProcessPollingSubscriber< tier4_system_msgs::msg::EmergencyHoldingState> @@ -48,6 +48,6 @@ class Converter : public rclcpp::Node std::unordered_set auto_mode_tree_; }; -} // namespace hazard_status_converter +} // namespace autoware::hazard_status_converter #endif // CONVERTER_HPP_ diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst similarity index 88% rename from system/mrm_comfortable_stop_operator/CHANGELOG.rst rename to system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst index cf423a3d7b158..d4d3af9f3cf56 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst @@ -1,7 +1,26 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package mrm_comfortable_stop_operator +Changelog for package autoware_mrm_comfortable_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) + * feat(mrm_comfortable_stop_operator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_comfortable_stop_operator): move a header under `include/autoware` + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_comfortable_stop_operator): fix include header path + * To follow the previous commit + * rename: `mrm_comfortable_stop_operator` => `autoware_mrm_comfortable_stop_operator` + * update: `CODEOWNERS` + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_mrm_comfortable_stop_operator/CMakeLists.txt b/system/autoware_mrm_comfortable_stop_operator/CMakeLists.txt new file mode 100644 index 0000000000000..3ee028cd31608 --- /dev/null +++ b/system/autoware_mrm_comfortable_stop_operator/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_mrm_comfortable_stop_operator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME}_component SHARED + src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME}_component + PLUGIN "autoware::mrm_comfortable_stop_operator::MrmComfortableStopOperator" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/system/mrm_comfortable_stop_operator/README.md b/system/autoware_mrm_comfortable_stop_operator/README.md similarity index 100% rename from system/mrm_comfortable_stop_operator/README.md rename to system/autoware_mrm_comfortable_stop_operator/README.md diff --git a/system/mrm_comfortable_stop_operator/config/mrm_comfortable_stop_operator.param.yaml b/system/autoware_mrm_comfortable_stop_operator/config/mrm_comfortable_stop_operator.param.yaml similarity index 100% rename from system/mrm_comfortable_stop_operator/config/mrm_comfortable_stop_operator.param.yaml rename to system/autoware_mrm_comfortable_stop_operator/config/mrm_comfortable_stop_operator.param.yaml diff --git a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp b/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp similarity index 86% rename from system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp rename to system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp index eb84191f481f9..0dbaef1f1df21 100644 --- a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp +++ b/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ -#define MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ +#ifndef AUTOWARE__MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ +#define AUTOWARE__MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ // Core #include @@ -29,7 +29,7 @@ // ROS 2 core #include -namespace mrm_comfortable_stop_operator +namespace autoware::mrm_comfortable_stop_operator { struct Parameters @@ -81,6 +81,6 @@ class MrmComfortableStopOperator : public rclcpp::Node OnSetParametersCallbackHandle::SharedPtr set_param_res_; }; -} // namespace mrm_comfortable_stop_operator +} // namespace autoware::mrm_comfortable_stop_operator -#endif // MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ +#endif // AUTOWARE__MRM_COMFORTABLE_STOP_OPERATOR__MRM_COMFORTABLE_STOP_OPERATOR_CORE_HPP_ diff --git a/system/mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py b/system/autoware_mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py similarity index 91% rename from system/mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py rename to system/autoware_mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py index 9181af398e3d6..50dabf74206af 100644 --- a/system/mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py +++ b/system/autoware_mrm_comfortable_stop_operator/launch/mrm_comfortable_stop_operator.launch.py @@ -28,8 +28,8 @@ def launch_setup(context, *args, **kwargs): params = yaml.safe_load(f)["/**"]["ros__parameters"] component = ComposableNode( - package="mrm_comfortable_stop_operator", - plugin="mrm_comfortable_stop_operator::MrmComfortableStopOperator", + package="autoware_mrm_comfortable_stop_operator", + plugin="autoware::mrm_comfortable_stop_operator::MrmComfortableStopOperator", name="mrm_comfortable_stop_operator", parameters=[ params, @@ -61,7 +61,7 @@ def generate_launch_description(): DeclareLaunchArgument( "config_file", default_value=[ - FindPackageShare("mrm_comfortable_stop_operator"), + FindPackageShare("autoware_mrm_comfortable_stop_operator"), "/config/mrm_comfortable_stop_operator.param.yaml", ], description="path to the parameter file of mrm_comfortable_stop_operator", diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/autoware_mrm_comfortable_stop_operator/package.xml similarity index 86% rename from system/mrm_comfortable_stop_operator/package.xml rename to system/autoware_mrm_comfortable_stop_operator/package.xml index 58ff309d825f1..33746a7d2dda0 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/autoware_mrm_comfortable_stop_operator/package.xml @@ -1,11 +1,12 @@ - mrm_comfortable_stop_operator - 0.40.0 + autoware_mrm_comfortable_stop_operator + 0.41.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp similarity index 94% rename from system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp rename to system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index fc703ab16e259..397367e568a25 100644 --- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp" +#include "autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp" #include #include -namespace mrm_comfortable_stop_operator +namespace autoware::mrm_comfortable_stop_operator { MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions & node_options) @@ -123,7 +123,7 @@ void MrmComfortableStopOperator::onTimer() const publishStatus(); } -} // namespace mrm_comfortable_stop_operator +} // namespace autoware::mrm_comfortable_stop_operator #include -RCLCPP_COMPONENTS_REGISTER_NODE(mrm_comfortable_stop_operator::MrmComfortableStopOperator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mrm_comfortable_stop_operator::MrmComfortableStopOperator) diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst similarity index 86% rename from system/mrm_emergency_stop_operator/CHANGELOG.rst rename to system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst index f6dc5499bcb74..125eed07658a4 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst @@ -1,7 +1,28 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package mrm_emergency_stop_operator +Changelog for package autoware_mrm_emergency_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) + * feat(mrm_emergency_stop_operator): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_emergency_stop_operator): move a header under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_emergency_stop_operator): fix include header path + * To follow the previous commit + * rename: `mrm_emergency_stop_operator` => `autoware_mrm_emergency_stop_operator` + * bug(autoware_mrm_emergency_stop_operator): revert wrongly updated copyrights + * bug(tier4_system_launch): fix a missing `autoware\_` for `mrm_emergency_stop_operator` + * bug(autoware_mrm_emergency_stop_operator): fix critical bugs that contaminate topic names + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_mrm_emergency_stop_operator/CMakeLists.txt b/system/autoware_mrm_emergency_stop_operator/CMakeLists.txt new file mode 100644 index 0000000000000..a4403aaf11ed1 --- /dev/null +++ b/system/autoware_mrm_emergency_stop_operator/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_mrm_emergency_stop_operator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME}_component SHARED + src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME}_component + PLUGIN "autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/system/mrm_emergency_stop_operator/README.md b/system/autoware_mrm_emergency_stop_operator/README.md similarity index 100% rename from system/mrm_emergency_stop_operator/README.md rename to system/autoware_mrm_emergency_stop_operator/README.md diff --git a/system/mrm_emergency_stop_operator/config/mrm_emergency_stop_operator.param.yaml b/system/autoware_mrm_emergency_stop_operator/config/mrm_emergency_stop_operator.param.yaml similarity index 100% rename from system/mrm_emergency_stop_operator/config/mrm_emergency_stop_operator.param.yaml rename to system/autoware_mrm_emergency_stop_operator/config/mrm_emergency_stop_operator.param.yaml diff --git a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp b/system/autoware_mrm_emergency_stop_operator/include/autoware/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp similarity index 86% rename from system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp rename to system/autoware_mrm_emergency_stop_operator/include/autoware/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp index d7995a51ac8fb..93df3be01cae8 100644 --- a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp +++ b/system/autoware_mrm_emergency_stop_operator/include/autoware/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ -#define MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ +#ifndef AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ +#define AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ // Core #include @@ -28,7 +28,7 @@ #include #include -namespace mrm_emergency_stop_operator +namespace autoware::mrm_emergency_stop_operator { using autoware_control_msgs::msg::Control; using tier4_system_msgs::msg::MrmBehaviorStatus; @@ -86,6 +86,6 @@ class MrmEmergencyStopOperator : public rclcpp::Node Control calcTargetAcceleration(const Control & prev_control_cmd) const; }; -} // namespace mrm_emergency_stop_operator +} // namespace autoware::mrm_emergency_stop_operator -#endif // MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ +#endif // AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_ diff --git a/system/mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py b/system/autoware_mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py similarity index 91% rename from system/mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py rename to system/autoware_mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py index 769c121c18ac9..c00494a0f1b88 100644 --- a/system/mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py +++ b/system/autoware_mrm_emergency_stop_operator/launch/mrm_emergency_stop_operator.launch.py @@ -28,8 +28,8 @@ def launch_setup(context, *args, **kwargs): params = yaml.safe_load(f)["/**"]["ros__parameters"] component = ComposableNode( - package="mrm_emergency_stop_operator", - plugin="mrm_emergency_stop_operator::MrmEmergencyStopOperator", + package="autoware_mrm_emergency_stop_operator", + plugin="autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator", name="mrm_emergency_stop_operator", parameters=[ params, @@ -61,7 +61,7 @@ def generate_launch_description(): DeclareLaunchArgument( "config_file", default_value=[ - FindPackageShare("mrm_emergency_stop_operator"), + FindPackageShare("autoware_mrm_emergency_stop_operator"), "/config/mrm_emergency_stop_operator.param.yaml", ], description="path to the parameter file of mrm_emergency_stop_operator", diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/autoware_mrm_emergency_stop_operator/package.xml similarity index 86% rename from system/mrm_emergency_stop_operator/package.xml rename to system/autoware_mrm_emergency_stop_operator/package.xml index 7614373672f31..169c3569b5da2 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/autoware_mrm_emergency_stop_operator/package.xml @@ -1,11 +1,12 @@ - mrm_emergency_stop_operator - 0.40.0 + autoware_mrm_emergency_stop_operator + 0.41.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/autoware_mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp similarity index 94% rename from system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp rename to system/autoware_mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp index 9c941888a3545..7db4ddaef9a9c 100644 --- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +++ b/system/autoware_mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp" +#include "autoware/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp" #include #include -namespace mrm_emergency_stop_operator +namespace autoware::mrm_emergency_stop_operator { MrmEmergencyStopOperator::MrmEmergencyStopOperator(const rclcpp::NodeOptions & node_options) @@ -150,7 +150,7 @@ Control MrmEmergencyStopOperator::calcTargetAcceleration(const Control & prev_co return control_cmd; } -} // namespace mrm_emergency_stop_operator +} // namespace autoware::mrm_emergency_stop_operator #include -RCLCPP_COMPONENTS_REGISTER_NODE(mrm_emergency_stop_operator::MrmEmergencyStopOperator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator) diff --git a/system/mrm_handler/CHANGELOG.rst b/system/autoware_mrm_handler/CHANGELOG.rst similarity index 86% rename from system/mrm_handler/CHANGELOG.rst rename to system/autoware_mrm_handler/CHANGELOG.rst index d9e6990373f6f..9d39ce3ed10c2 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/autoware_mrm_handler/CHANGELOG.rst @@ -1,7 +1,29 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package mrm_handler +Changelog for package autoware_mrm_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) + * feat(mrm_handler): apply `autoware\_` prefix (see below): + Note: + * In this commit, I did not organize a folder structure. + The folder structure will be organized in the next some commits. + * The changes will follow the Autoware's guideline as below: + - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder + * rename(mrm_handler): move a header under `include/autoware`: + * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit + * fix(mrm_handler): fix include header path + * To follow the previous commit + * rename: `mrm_handler` => `autoware_mrm_handler` + * bug(tier4_system_launch): fix a missing `autoware\_` for `mrm_handler` + * bug(mrm_handler): revert wrongly updated copyrights + * update(mrm_handler): `README.md` + * bug(autoware_mrm_handler): fix a critical bug that contaminates topic name + --------- +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/mrm_handler/CMakeLists.txt b/system/autoware_mrm_handler/CMakeLists.txt similarity index 82% rename from system/mrm_handler/CMakeLists.txt rename to system/autoware_mrm_handler/CMakeLists.txt index 93e03e7f20ead..ba960c05924d5 100644 --- a/system/mrm_handler/CMakeLists.txt +++ b/system/autoware_mrm_handler/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(mrm_handler) +project(autoware_mrm_handler) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "MrmHandler" + PLUGIN "autoware::mrm_handler::MrmHandler" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/system/mrm_handler/README.md b/system/autoware_mrm_handler/README.md similarity index 97% rename from system/mrm_handler/README.md rename to system/autoware_mrm_handler/README.md index 8ccb95e6ca8d3..ea2a63e51cd4b 100644 --- a/system/mrm_handler/README.md +++ b/system/autoware_mrm_handler/README.md @@ -37,7 +37,7 @@ MRM Handler is a node to select a proper MRM from a system failure state contain ## Parameters -{{ json_to_markdown("system/mrm_handler/schema/mrm_handler.schema.json") }} +{{ json_to_markdown("system/autoware_mrm_handler/schema/mrm_handler.schema.json") }} ## Assumptions / Known limits diff --git a/system/mrm_handler/config/mrm_handler.param.yaml b/system/autoware_mrm_handler/config/mrm_handler.param.yaml similarity index 100% rename from system/mrm_handler/config/mrm_handler.param.yaml rename to system/autoware_mrm_handler/config/mrm_handler.param.yaml diff --git a/system/mrm_handler/image/mrm-state.svg b/system/autoware_mrm_handler/image/mrm-state.svg similarity index 100% rename from system/mrm_handler/image/mrm-state.svg rename to system/autoware_mrm_handler/image/mrm-state.svg diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/autoware_mrm_handler/include/autoware/mrm_handler/mrm_handler_core.hpp similarity index 96% rename from system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp rename to system/autoware_mrm_handler/include/autoware/mrm_handler/mrm_handler_core.hpp index b292ab1d874d3..8d74db4e5c843 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/autoware_mrm_handler/include/autoware/mrm_handler/mrm_handler_core.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MRM_HANDLER__MRM_HANDLER_CORE_HPP_ -#define MRM_HANDLER__MRM_HANDLER_CORE_HPP_ +#ifndef AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_ +#define AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_ // Core #include @@ -41,6 +41,9 @@ #include #include +namespace autoware::mrm_handler +{ + struct HazardLampPolicy { bool emergency; @@ -162,4 +165,6 @@ class MrmHandler : public rclcpp::Node bool isArrivedAtGoal(); }; -#endif // MRM_HANDLER__MRM_HANDLER_CORE_HPP_ +} // namespace autoware::mrm_handler + +#endif // AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_ diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/autoware_mrm_handler/launch/mrm_handler.launch.xml similarity index 92% rename from system/mrm_handler/launch/mrm_handler.launch.xml rename to system/autoware_mrm_handler/launch/mrm_handler.launch.xml index 51a22cf92bebc..d3ed4fb499729 100644 --- a/system/mrm_handler/launch/mrm_handler.launch.xml +++ b/system/autoware_mrm_handler/launch/mrm_handler.launch.xml @@ -17,10 +17,10 @@ - + - + diff --git a/system/mrm_handler/package.xml b/system/autoware_mrm_handler/package.xml similarity index 88% rename from system/mrm_handler/package.xml rename to system/autoware_mrm_handler/package.xml index d330680e87049..92cfef1634bc1 100644 --- a/system/mrm_handler/package.xml +++ b/system/autoware_mrm_handler/package.xml @@ -1,12 +1,13 @@ - mrm_handler - 0.40.0 + autoware_mrm_handler + 0.41.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe Tetsuhiro Kawaguchi + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/mrm_handler/schema/mrm_handler.schema.json b/system/autoware_mrm_handler/schema/mrm_handler.schema.json similarity index 100% rename from system/mrm_handler/schema/mrm_handler.schema.json rename to system/autoware_mrm_handler/schema/mrm_handler.schema.json diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/autoware_mrm_handler/src/mrm_handler/mrm_handler_core.cpp similarity index 99% rename from system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp rename to system/autoware_mrm_handler/src/mrm_handler/mrm_handler_core.cpp index b5f4bbaeefc46..e9429300de573 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/autoware_mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -11,13 +11,16 @@ // CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language // governing permissions and limitations under the License. -#include "mrm_handler/mrm_handler_core.hpp" +#include "autoware/mrm_handler/mrm_handler_core.hpp" #include #include #include #include +namespace autoware::mrm_handler +{ + MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler", options) { // Parameter @@ -583,5 +586,7 @@ bool MrmHandler::isArrivedAtGoal() return state->mode == OperationModeState::STOP; } +} // namespace autoware::mrm_handler + #include -RCLCPP_COMPONENTS_REGISTER_NODE(MrmHandler) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mrm_handler::MrmHandler) diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index 39bf68af5f415..71e10ad7c579e 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package autoware_processing_time_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_processing_time_checker)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_processing_time_checker (`#9921 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* fix(autoware_processing_time_checker): fix bugprone-exception-escape (`#9780 `_) + * fix: bugprone-error + * fix: cpplint + --------- +* Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 37f53c94de0d1..ffbdfc85c3cbe 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 0.40.0 + 0.41.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/autoware_system_diagnostic_monitor/CHANGELOG.rst similarity index 89% rename from system/system_diagnostic_monitor/CHANGELOG.rst rename to system/autoware_system_diagnostic_monitor/CHANGELOG.rst index 9a5721b05d7ee..59495adc1b2fa 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/autoware_system_diagnostic_monitor/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package system_diagnostic_monitor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_system_diagnostic_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/system_diagnostic_monitor/CMakeLists.txt b/system/autoware_system_diagnostic_monitor/CMakeLists.txt similarity index 86% rename from system/system_diagnostic_monitor/CMakeLists.txt rename to system/autoware_system_diagnostic_monitor/CMakeLists.txt index b253b5dbc0529..562079abf84fb 100644 --- a/system/system_diagnostic_monitor/CMakeLists.txt +++ b/system/autoware_system_diagnostic_monitor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(system_diagnostic_monitor) +project(autoware_system_diagnostic_monitor) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/system/system_diagnostic_monitor/README.md b/system/autoware_system_diagnostic_monitor/README.md similarity index 100% rename from system/system_diagnostic_monitor/README.md rename to system/autoware_system_diagnostic_monitor/README.md diff --git a/system/system_diagnostic_monitor/config/autoware-main.yaml b/system/autoware_system_diagnostic_monitor/config/autoware-main.yaml similarity index 78% rename from system/system_diagnostic_monitor/config/autoware-main.yaml rename to system/autoware_system_diagnostic_monitor/config/autoware-main.yaml index 26f3fee2863d0..30b6ce9bad9f4 100644 --- a/system/system_diagnostic_monitor/config/autoware-main.yaml +++ b/system/autoware_system_diagnostic_monitor/config/autoware-main.yaml @@ -1,11 +1,11 @@ files: - - { path: $(find-pkg-share system_diagnostic_monitor)/config/map.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/localization.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/planning.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/perception.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/control.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/vehicle.yaml } - - { path: $(find-pkg-share system_diagnostic_monitor)/config/system.yaml } + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/localization.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/perception.yaml } + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/vehicle.yaml } + - { path: $(dirname)/system.yaml } units: - path: /autoware/modes/stop diff --git a/system/system_diagnostic_monitor/config/autoware-psim.yaml b/system/autoware_system_diagnostic_monitor/config/autoware-psim.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/autoware-psim.yaml rename to system/autoware_system_diagnostic_monitor/config/autoware-psim.yaml diff --git a/system/system_diagnostic_monitor/config/control.yaml b/system/autoware_system_diagnostic_monitor/config/control.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/control.yaml rename to system/autoware_system_diagnostic_monitor/config/control.yaml diff --git a/system/system_diagnostic_monitor/config/hardware.yaml b/system/autoware_system_diagnostic_monitor/config/hardware.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/hardware.yaml rename to system/autoware_system_diagnostic_monitor/config/hardware.yaml diff --git a/system/system_diagnostic_monitor/config/localization.yaml b/system/autoware_system_diagnostic_monitor/config/localization.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/localization.yaml rename to system/autoware_system_diagnostic_monitor/config/localization.yaml diff --git a/system/system_diagnostic_monitor/config/map.yaml b/system/autoware_system_diagnostic_monitor/config/map.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/map.yaml rename to system/autoware_system_diagnostic_monitor/config/map.yaml diff --git a/system/system_diagnostic_monitor/config/perception.yaml b/system/autoware_system_diagnostic_monitor/config/perception.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/perception.yaml rename to system/autoware_system_diagnostic_monitor/config/perception.yaml diff --git a/system/system_diagnostic_monitor/config/planning.yaml b/system/autoware_system_diagnostic_monitor/config/planning.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/planning.yaml rename to system/autoware_system_diagnostic_monitor/config/planning.yaml diff --git a/system/system_diagnostic_monitor/config/system.yaml b/system/autoware_system_diagnostic_monitor/config/system.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/system.yaml rename to system/autoware_system_diagnostic_monitor/config/system.yaml diff --git a/system/system_diagnostic_monitor/config/vehicle.yaml b/system/autoware_system_diagnostic_monitor/config/vehicle.yaml similarity index 100% rename from system/system_diagnostic_monitor/config/vehicle.yaml rename to system/autoware_system_diagnostic_monitor/config/vehicle.yaml diff --git a/system/autoware_system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml b/system/autoware_system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml new file mode 100644 index 0000000000000..9a9fcb494d4e2 --- /dev/null +++ b/system/autoware_system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/system/system_diagnostic_monitor/package.xml b/system/autoware_system_diagnostic_monitor/package.xml similarity index 71% rename from system/system_diagnostic_monitor/package.xml rename to system/autoware_system_diagnostic_monitor/package.xml index 095d7cf040517..92e869001ddab 100644 --- a/system/system_diagnostic_monitor/package.xml +++ b/system/autoware_system_diagnostic_monitor/package.xml @@ -1,17 +1,18 @@ - system_diagnostic_monitor - 0.40.0 - The system_diagnostic_monitor package + autoware_system_diagnostic_monitor + 0.41.0 + The autoware_system_diagnostic_monitor package Takagi, Isamu + Junya Sasaki Apache License 2.0 ament_cmake_auto autoware_cmake autoware_adapi_v1_msgs - diagnostic_graph_aggregator + autoware_diagnostic_graph_aggregator diagnostic_msgs rclpy tier4_system_msgs diff --git a/system/system_diagnostic_monitor/script/component_state_diagnostics.py b/system/autoware_system_diagnostic_monitor/script/component_state_diagnostics.py similarity index 100% rename from system/system_diagnostic_monitor/script/component_state_diagnostics.py rename to system/autoware_system_diagnostic_monitor/script/component_state_diagnostics.py diff --git a/system/system_monitor/CHANGELOG.rst b/system/autoware_system_monitor/CHANGELOG.rst similarity index 98% rename from system/system_monitor/CHANGELOG.rst rename to system/autoware_system_monitor/CHANGELOG.rst index 0ce1977dfdfa8..226e1c44a292b 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/autoware_system_monitor/CHANGELOG.rst @@ -1,7 +1,27 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package system_monitor +Changelog for package autoware_system_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) + * feat(system_monitor): apply `autoware\_` prefix (see below): + * The `system_monitor` operates independently from other modules in `autoware.universe`, so the `autoware\_` prefix is added only to the package name. + * The `autoware::` namespace is not used because C language does not support namespaces. + * Headers are not moved under `include/autoware` to maintain compatibility for use outside the `autoware` context. + * For users utilizing this package within `autoware.universe`, only the package name includes the `autoware\_` prefix. + This approach explains the unique namespacing and naming conventions for `system_monitor` compared to other packages. + * bug(system_monitor): fix missing package name update + * rename: `system_monitor` => `autoware_system_monitor` + * style(pre-commit): autofix + * update: `CODEOWNERS` + * bug(autoware_system_monitor): apply missing fix + * update: `CODEOWNERS` + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Junya Sasaki + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/system/system_monitor/CMakeLists.txt b/system/autoware_system_monitor/CMakeLists.txt similarity index 99% rename from system/system_monitor/CMakeLists.txt rename to system/autoware_system_monitor/CMakeLists.txt index be3f8fadc8a81..cb6b8197ae03a 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/autoware_system_monitor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(system_monitor) +project(autoware_system_monitor) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/system/system_monitor/README.md b/system/autoware_system_monitor/README.md similarity index 99% rename from system/system_monitor/README.md rename to system/autoware_system_monitor/README.md index d00c57c895279..06b79422f833e 100644 --- a/system/system_monitor/README.md +++ b/system/autoware_system_monitor/README.md @@ -33,7 +33,7 @@ Use colcon build and launch in the same way as other packages. ```sh colcon build source install/setup.bash -ros2 launch system_monitor system_monitor.launch.xml +ros2 launch autoware_system_monitor system_monitor.launch.xml ``` CPU and GPU monitoring method differs depending on platform.
diff --git a/system/system_monitor/cmake/FindNVML.cmake b/system/autoware_system_monitor/cmake/FindNVML.cmake similarity index 100% rename from system/system_monitor/cmake/FindNVML.cmake rename to system/autoware_system_monitor/cmake/FindNVML.cmake diff --git a/system/system_monitor/config/cpu_monitor.param.yaml b/system/autoware_system_monitor/config/cpu_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/cpu_monitor.param.yaml rename to system/autoware_system_monitor/config/cpu_monitor.param.yaml diff --git a/system/system_monitor/config/gpu_monitor.param.yaml b/system/autoware_system_monitor/config/gpu_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/gpu_monitor.param.yaml rename to system/autoware_system_monitor/config/gpu_monitor.param.yaml diff --git a/system/system_monitor/config/hdd_monitor.param.yaml b/system/autoware_system_monitor/config/hdd_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/hdd_monitor.param.yaml rename to system/autoware_system_monitor/config/hdd_monitor.param.yaml diff --git a/system/system_monitor/config/mem_monitor.param.yaml b/system/autoware_system_monitor/config/mem_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/mem_monitor.param.yaml rename to system/autoware_system_monitor/config/mem_monitor.param.yaml diff --git a/system/system_monitor/config/net_monitor.param.yaml b/system/autoware_system_monitor/config/net_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/net_monitor.param.yaml rename to system/autoware_system_monitor/config/net_monitor.param.yaml diff --git a/system/system_monitor/config/ntp_monitor.param.yaml b/system/autoware_system_monitor/config/ntp_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/ntp_monitor.param.yaml rename to system/autoware_system_monitor/config/ntp_monitor.param.yaml diff --git a/system/system_monitor/config/process_monitor.param.yaml b/system/autoware_system_monitor/config/process_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/process_monitor.param.yaml rename to system/autoware_system_monitor/config/process_monitor.param.yaml diff --git a/system/system_monitor/config/voltage_monitor.param.yaml b/system/autoware_system_monitor/config/voltage_monitor.param.yaml similarity index 100% rename from system/system_monitor/config/voltage_monitor.param.yaml rename to system/autoware_system_monitor/config/voltage_monitor.param.yaml diff --git a/system/system_monitor/docs/class_diagrams.md b/system/autoware_system_monitor/docs/class_diagrams.md similarity index 100% rename from system/system_monitor/docs/class_diagrams.md rename to system/autoware_system_monitor/docs/class_diagrams.md diff --git a/system/system_monitor/docs/hdd_reader.md b/system/autoware_system_monitor/docs/hdd_reader.md similarity index 100% rename from system/system_monitor/docs/hdd_reader.md rename to system/autoware_system_monitor/docs/hdd_reader.md diff --git a/system/system_monitor/docs/images/class_cpu_monitor.png b/system/autoware_system_monitor/docs/images/class_cpu_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_cpu_monitor.png rename to system/autoware_system_monitor/docs/images/class_cpu_monitor.png diff --git a/system/system_monitor/docs/images/class_gpu_monitor.png b/system/autoware_system_monitor/docs/images/class_gpu_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_gpu_monitor.png rename to system/autoware_system_monitor/docs/images/class_gpu_monitor.png diff --git a/system/system_monitor/docs/images/class_hdd_monitor.png b/system/autoware_system_monitor/docs/images/class_hdd_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_hdd_monitor.png rename to system/autoware_system_monitor/docs/images/class_hdd_monitor.png diff --git a/system/system_monitor/docs/images/class_mem_monitor.png b/system/autoware_system_monitor/docs/images/class_mem_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_mem_monitor.png rename to system/autoware_system_monitor/docs/images/class_mem_monitor.png diff --git a/system/system_monitor/docs/images/class_net_monitor.png b/system/autoware_system_monitor/docs/images/class_net_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_net_monitor.png rename to system/autoware_system_monitor/docs/images/class_net_monitor.png diff --git a/system/system_monitor/docs/images/class_ntp_monitor.png b/system/autoware_system_monitor/docs/images/class_ntp_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_ntp_monitor.png rename to system/autoware_system_monitor/docs/images/class_ntp_monitor.png diff --git a/system/system_monitor/docs/images/class_process_monitor.png b/system/autoware_system_monitor/docs/images/class_process_monitor.png similarity index 100% rename from system/system_monitor/docs/images/class_process_monitor.png rename to system/autoware_system_monitor/docs/images/class_process_monitor.png diff --git a/system/system_monitor/docs/images/seq_cpu_monitor.png b/system/autoware_system_monitor/docs/images/seq_cpu_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_cpu_monitor.png rename to system/autoware_system_monitor/docs/images/seq_cpu_monitor.png diff --git a/system/system_monitor/docs/images/seq_gpu_monitor.png b/system/autoware_system_monitor/docs/images/seq_gpu_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_gpu_monitor.png rename to system/autoware_system_monitor/docs/images/seq_gpu_monitor.png diff --git a/system/system_monitor/docs/images/seq_hdd_monitor.png b/system/autoware_system_monitor/docs/images/seq_hdd_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_hdd_monitor.png rename to system/autoware_system_monitor/docs/images/seq_hdd_monitor.png diff --git a/system/system_monitor/docs/images/seq_mem_monitor.png b/system/autoware_system_monitor/docs/images/seq_mem_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_mem_monitor.png rename to system/autoware_system_monitor/docs/images/seq_mem_monitor.png diff --git a/system/system_monitor/docs/images/seq_net_monitor.png b/system/autoware_system_monitor/docs/images/seq_net_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_net_monitor.png rename to system/autoware_system_monitor/docs/images/seq_net_monitor.png diff --git a/system/system_monitor/docs/images/seq_ntp_monitor.png b/system/autoware_system_monitor/docs/images/seq_ntp_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_ntp_monitor.png rename to system/autoware_system_monitor/docs/images/seq_ntp_monitor.png diff --git a/system/system_monitor/docs/images/seq_process_monitor.png b/system/autoware_system_monitor/docs/images/seq_process_monitor.png similarity index 100% rename from system/system_monitor/docs/images/seq_process_monitor.png rename to system/autoware_system_monitor/docs/images/seq_process_monitor.png diff --git a/system/system_monitor/docs/msr_reader.md b/system/autoware_system_monitor/docs/msr_reader.md similarity index 100% rename from system/system_monitor/docs/msr_reader.md rename to system/autoware_system_monitor/docs/msr_reader.md diff --git a/system/system_monitor/docs/ros_parameters.md b/system/autoware_system_monitor/docs/ros_parameters.md similarity index 100% rename from system/system_monitor/docs/ros_parameters.md rename to system/autoware_system_monitor/docs/ros_parameters.md diff --git a/system/system_monitor/docs/seq_diagrams.md b/system/autoware_system_monitor/docs/seq_diagrams.md similarity index 100% rename from system/system_monitor/docs/seq_diagrams.md rename to system/autoware_system_monitor/docs/seq_diagrams.md diff --git a/system/system_monitor/docs/topics_cpu_monitor.md b/system/autoware_system_monitor/docs/topics_cpu_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_cpu_monitor.md rename to system/autoware_system_monitor/docs/topics_cpu_monitor.md diff --git a/system/system_monitor/docs/topics_gpu_monitor.md b/system/autoware_system_monitor/docs/topics_gpu_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_gpu_monitor.md rename to system/autoware_system_monitor/docs/topics_gpu_monitor.md diff --git a/system/system_monitor/docs/topics_hdd_monitor.md b/system/autoware_system_monitor/docs/topics_hdd_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_hdd_monitor.md rename to system/autoware_system_monitor/docs/topics_hdd_monitor.md diff --git a/system/system_monitor/docs/topics_mem_monitor.md b/system/autoware_system_monitor/docs/topics_mem_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_mem_monitor.md rename to system/autoware_system_monitor/docs/topics_mem_monitor.md diff --git a/system/system_monitor/docs/topics_net_monitor.md b/system/autoware_system_monitor/docs/topics_net_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_net_monitor.md rename to system/autoware_system_monitor/docs/topics_net_monitor.md diff --git a/system/system_monitor/docs/topics_ntp_monitor.md b/system/autoware_system_monitor/docs/topics_ntp_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_ntp_monitor.md rename to system/autoware_system_monitor/docs/topics_ntp_monitor.md diff --git a/system/system_monitor/docs/topics_process_monitor.md b/system/autoware_system_monitor/docs/topics_process_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_process_monitor.md rename to system/autoware_system_monitor/docs/topics_process_monitor.md diff --git a/system/system_monitor/docs/topics_voltage_monitor.md b/system/autoware_system_monitor/docs/topics_voltage_monitor.md similarity index 100% rename from system/system_monitor/docs/topics_voltage_monitor.md rename to system/autoware_system_monitor/docs/topics_voltage_monitor.md diff --git a/system/system_monitor/docs/traffic_reader.md b/system/autoware_system_monitor/docs/traffic_reader.md similarity index 100% rename from system/system_monitor/docs/traffic_reader.md rename to system/autoware_system_monitor/docs/traffic_reader.md diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/arm_cpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/arm_cpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/arm_cpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/arm_cpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/cpu_monitor_base.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/cpu_monitor_base.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/cpu_monitor_base.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/cpu_monitor_base.hpp diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/intel_cpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/intel_cpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/intel_cpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/intel_cpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/tegra_cpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/tegra_cpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/tegra_cpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/tegra_cpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/unknown_cpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/cpu_monitor/unknown_cpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/cpu_monitor/unknown_cpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/cpu_monitor/unknown_cpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/gpu_monitor/gpu_monitor_base.hpp b/system/autoware_system_monitor/include/system_monitor/gpu_monitor/gpu_monitor_base.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/gpu_monitor/gpu_monitor_base.hpp rename to system/autoware_system_monitor/include/system_monitor/gpu_monitor/gpu_monitor_base.hpp diff --git a/system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/gpu_monitor/tegra_gpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/gpu_monitor/tegra_gpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/gpu_monitor/tegra_gpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/gpu_monitor/tegra_gpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/gpu_monitor/unknown_gpu_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/gpu_monitor/unknown_gpu_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/gpu_monitor/unknown_gpu_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/gpu_monitor/unknown_gpu_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/hdd_reader/hdd_reader.hpp b/system/autoware_system_monitor/include/system_monitor/hdd_reader/hdd_reader.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/hdd_reader/hdd_reader.hpp rename to system/autoware_system_monitor/include/system_monitor/hdd_reader/hdd_reader.hpp diff --git a/system/system_monitor/include/system_monitor/mem_monitor/mem_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/mem_monitor/mem_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/mem_monitor/mem_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/mem_monitor/mem_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/msr_reader/msr_reader.hpp b/system/autoware_system_monitor/include/system_monitor/msr_reader/msr_reader.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/msr_reader/msr_reader.hpp rename to system/autoware_system_monitor/include/system_monitor/msr_reader/msr_reader.hpp diff --git a/system/system_monitor/include/system_monitor/net_monitor/net_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/net_monitor/net_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/net_monitor/net_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/net_monitor/net_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/net_monitor/nl80211.hpp b/system/autoware_system_monitor/include/system_monitor/net_monitor/nl80211.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/net_monitor/nl80211.hpp rename to system/autoware_system_monitor/include/system_monitor/net_monitor/nl80211.hpp diff --git a/system/system_monitor/include/system_monitor/ntp_monitor/ntp_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/ntp_monitor/ntp_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/ntp_monitor/ntp_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/ntp_monitor/ntp_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/process_monitor/diag_task.hpp b/system/autoware_system_monitor/include/system_monitor/process_monitor/diag_task.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/process_monitor/diag_task.hpp rename to system/autoware_system_monitor/include/system_monitor/process_monitor/diag_task.hpp diff --git a/system/system_monitor/include/system_monitor/process_monitor/process_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/process_monitor/process_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/process_monitor/process_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/process_monitor/process_monitor.hpp diff --git a/system/system_monitor/include/system_monitor/system_monitor_utility.hpp b/system/autoware_system_monitor/include/system_monitor/system_monitor_utility.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/system_monitor_utility.hpp rename to system/autoware_system_monitor/include/system_monitor/system_monitor_utility.hpp diff --git a/system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_common.hpp b/system/autoware_system_monitor/include/system_monitor/traffic_reader/traffic_reader_common.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_common.hpp rename to system/autoware_system_monitor/include/system_monitor/traffic_reader/traffic_reader_common.hpp diff --git a/system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_service.hpp b/system/autoware_system_monitor/include/system_monitor/traffic_reader/traffic_reader_service.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_service.hpp rename to system/autoware_system_monitor/include/system_monitor/traffic_reader/traffic_reader_service.hpp diff --git a/system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp b/system/autoware_system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp similarity index 100% rename from system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp rename to system/autoware_system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp diff --git a/system/system_monitor/launch/system_monitor.launch.xml b/system/autoware_system_monitor/launch/system_monitor.launch.xml similarity index 52% rename from system/system_monitor/launch/system_monitor.launch.xml rename to system/autoware_system_monitor/launch/system_monitor.launch.xml index c6d29dd6b772f..14d1e122801b9 100644 --- a/system/system_monitor/launch/system_monitor.launch.xml +++ b/system/autoware_system_monitor/launch/system_monitor.launch.xml @@ -1,37 +1,37 @@ - - - - - - - - + + + + + + + + - + - + - + - + - + - + - + - + diff --git a/system/system_monitor/package.xml b/system/autoware_system_monitor/package.xml similarity index 90% rename from system/system_monitor/package.xml rename to system/autoware_system_monitor/package.xml index df63dac90551c..0212b4ec61751 100644 --- a/system/system_monitor/package.xml +++ b/system/autoware_system_monitor/package.xml @@ -1,11 +1,12 @@ - system_monitor - 0.40.0 + autoware_system_monitor + 0.41.0 The system_monitor package Fumihito Ito TetsuKawa + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp b/system/autoware_system_monitor/reader/hdd_reader/hdd_reader.cpp similarity index 100% rename from system/system_monitor/reader/hdd_reader/hdd_reader.cpp rename to system/autoware_system_monitor/reader/hdd_reader/hdd_reader.cpp diff --git a/system/system_monitor/reader/msr_reader/msr_reader.cpp b/system/autoware_system_monitor/reader/msr_reader/msr_reader.cpp similarity index 100% rename from system/system_monitor/reader/msr_reader/msr_reader.cpp rename to system/autoware_system_monitor/reader/msr_reader/msr_reader.cpp diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp b/system/autoware_system_monitor/reader/traffic_reader/traffic_reader_main.cpp similarity index 100% rename from system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp rename to system/autoware_system_monitor/reader/traffic_reader/traffic_reader_main.cpp diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp b/system/autoware_system_monitor/reader/traffic_reader/traffic_reader_service.cpp similarity index 100% rename from system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp rename to system/autoware_system_monitor/reader/traffic_reader/traffic_reader_service.cpp diff --git a/system/system_monitor/src/cpu_monitor/arm_cpu_monitor.cpp b/system/autoware_system_monitor/src/cpu_monitor/arm_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/arm_cpu_monitor.cpp rename to system/autoware_system_monitor/src/cpu_monitor/arm_cpu_monitor.cpp diff --git a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp b/system/autoware_system_monitor/src/cpu_monitor/cpu_monitor_base.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp rename to system/autoware_system_monitor/src/cpu_monitor/cpu_monitor_base.cpp diff --git a/system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp b/system/autoware_system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp rename to system/autoware_system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp diff --git a/system/system_monitor/src/cpu_monitor/raspi_cpu_monitor.cpp b/system/autoware_system_monitor/src/cpu_monitor/raspi_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/raspi_cpu_monitor.cpp rename to system/autoware_system_monitor/src/cpu_monitor/raspi_cpu_monitor.cpp diff --git a/system/system_monitor/src/cpu_monitor/tegra_cpu_monitor.cpp b/system/autoware_system_monitor/src/cpu_monitor/tegra_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/tegra_cpu_monitor.cpp rename to system/autoware_system_monitor/src/cpu_monitor/tegra_cpu_monitor.cpp diff --git a/system/system_monitor/src/cpu_monitor/unknown_cpu_monitor.cpp b/system/autoware_system_monitor/src/cpu_monitor/unknown_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/cpu_monitor/unknown_cpu_monitor.cpp rename to system/autoware_system_monitor/src/cpu_monitor/unknown_cpu_monitor.cpp diff --git a/system/system_monitor/src/gpu_monitor/gpu_monitor_base.cpp b/system/autoware_system_monitor/src/gpu_monitor/gpu_monitor_base.cpp similarity index 100% rename from system/system_monitor/src/gpu_monitor/gpu_monitor_base.cpp rename to system/autoware_system_monitor/src/gpu_monitor/gpu_monitor_base.cpp diff --git a/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp b/system/autoware_system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp rename to system/autoware_system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp diff --git a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp b/system/autoware_system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp rename to system/autoware_system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp diff --git a/system/system_monitor/src/gpu_monitor/unknown_gpu_monitor.cpp b/system/autoware_system_monitor/src/gpu_monitor/unknown_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/src/gpu_monitor/unknown_gpu_monitor.cpp rename to system/autoware_system_monitor/src/gpu_monitor/unknown_gpu_monitor.cpp diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/autoware_system_monitor/src/hdd_monitor/hdd_monitor.cpp similarity index 100% rename from system/system_monitor/src/hdd_monitor/hdd_monitor.cpp rename to system/autoware_system_monitor/src/hdd_monitor/hdd_monitor.cpp diff --git a/system/system_monitor/src/mem_monitor/mem_monitor.cpp b/system/autoware_system_monitor/src/mem_monitor/mem_monitor.cpp similarity index 100% rename from system/system_monitor/src/mem_monitor/mem_monitor.cpp rename to system/autoware_system_monitor/src/mem_monitor/mem_monitor.cpp diff --git a/system/system_monitor/src/net_monitor/net_monitor.cpp b/system/autoware_system_monitor/src/net_monitor/net_monitor.cpp similarity index 100% rename from system/system_monitor/src/net_monitor/net_monitor.cpp rename to system/autoware_system_monitor/src/net_monitor/net_monitor.cpp diff --git a/system/system_monitor/src/net_monitor/nl80211.cpp b/system/autoware_system_monitor/src/net_monitor/nl80211.cpp similarity index 100% rename from system/system_monitor/src/net_monitor/nl80211.cpp rename to system/autoware_system_monitor/src/net_monitor/nl80211.cpp diff --git a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp b/system/autoware_system_monitor/src/ntp_monitor/ntp_monitor.cpp similarity index 100% rename from system/system_monitor/src/ntp_monitor/ntp_monitor.cpp rename to system/autoware_system_monitor/src/ntp_monitor/ntp_monitor.cpp diff --git a/system/system_monitor/src/process_monitor/process_monitor.cpp b/system/autoware_system_monitor/src/process_monitor/process_monitor.cpp similarity index 100% rename from system/system_monitor/src/process_monitor/process_monitor.cpp rename to system/autoware_system_monitor/src/process_monitor/process_monitor.cpp diff --git a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp b/system/autoware_system_monitor/src/voltage_monitor/voltage_monitor.cpp similarity index 100% rename from system/system_monitor/src/voltage_monitor/voltage_monitor.cpp rename to system/autoware_system_monitor/src/voltage_monitor/voltage_monitor.cpp diff --git a/system/system_monitor/test/config/test_hdd_monitor.param.yaml b/system/autoware_system_monitor/test/config/test_hdd_monitor.param.yaml similarity index 100% rename from system/system_monitor/test/config/test_hdd_monitor.param.yaml rename to system/autoware_system_monitor/test/config/test_hdd_monitor.param.yaml diff --git a/system/system_monitor/test/config/test_net_monitor.param.yaml b/system/autoware_system_monitor/test/config/test_net_monitor.param.yaml similarity index 100% rename from system/system_monitor/test/config/test_net_monitor.param.yaml rename to system/autoware_system_monitor/test/config/test_net_monitor.param.yaml diff --git a/system/system_monitor/test/config/test_ntp_monitor.param.yaml b/system/autoware_system_monitor/test/config/test_ntp_monitor.param.yaml similarity index 100% rename from system/system_monitor/test/config/test_ntp_monitor.param.yaml rename to system/autoware_system_monitor/test/config/test_ntp_monitor.param.yaml diff --git a/system/system_monitor/test/src/cpu_monitor/mpstat1.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/mpstat1.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/mpstat1.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/mpstat1.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/mpstat2.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/mpstat2.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/mpstat2.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/mpstat2.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp diff --git a/system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp b/system/autoware_system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp rename to system/autoware_system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp diff --git a/system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp b/system/autoware_system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp rename to system/autoware_system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp diff --git a/system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp b/system/autoware_system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp rename to system/autoware_system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp diff --git a/system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp b/system/autoware_system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp rename to system/autoware_system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp diff --git a/system/system_monitor/test/src/hdd_monitor/df1.cpp b/system/autoware_system_monitor/test/src/hdd_monitor/df1.cpp similarity index 100% rename from system/system_monitor/test/src/hdd_monitor/df1.cpp rename to system/autoware_system_monitor/test/src/hdd_monitor/df1.cpp diff --git a/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp b/system/autoware_system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp rename to system/autoware_system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp diff --git a/system/system_monitor/test/src/mem_monitor/free1.cpp b/system/autoware_system_monitor/test/src/mem_monitor/free1.cpp similarity index 100% rename from system/system_monitor/test/src/mem_monitor/free1.cpp rename to system/autoware_system_monitor/test/src/mem_monitor/free1.cpp diff --git a/system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp b/system/autoware_system_monitor/test/src/mem_monitor/test_mem_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp rename to system/autoware_system_monitor/test/src/mem_monitor/test_mem_monitor.cpp diff --git a/system/system_monitor/test/src/net_monitor/test_net_monitor.cpp b/system/autoware_system_monitor/test/src/net_monitor/test_net_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/net_monitor/test_net_monitor.cpp rename to system/autoware_system_monitor/test/src/net_monitor/test_net_monitor.cpp diff --git a/system/system_monitor/test/src/ntp_monitor/ntpdate1.cpp b/system/autoware_system_monitor/test/src/ntp_monitor/ntpdate1.cpp similarity index 100% rename from system/system_monitor/test/src/ntp_monitor/ntpdate1.cpp rename to system/autoware_system_monitor/test/src/ntp_monitor/ntpdate1.cpp diff --git a/system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp b/system/autoware_system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp rename to system/autoware_system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp diff --git a/system/system_monitor/test/src/process_monitor/echo1.cpp b/system/autoware_system_monitor/test/src/process_monitor/echo1.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/echo1.cpp rename to system/autoware_system_monitor/test/src/process_monitor/echo1.cpp diff --git a/system/system_monitor/test/src/process_monitor/sed1.cpp b/system/autoware_system_monitor/test/src/process_monitor/sed1.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/sed1.cpp rename to system/autoware_system_monitor/test/src/process_monitor/sed1.cpp diff --git a/system/system_monitor/test/src/process_monitor/sort1.cpp b/system/autoware_system_monitor/test/src/process_monitor/sort1.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/sort1.cpp rename to system/autoware_system_monitor/test/src/process_monitor/sort1.cpp diff --git a/system/system_monitor/test/src/process_monitor/test_process_monitor.cpp b/system/autoware_system_monitor/test/src/process_monitor/test_process_monitor.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/test_process_monitor.cpp rename to system/autoware_system_monitor/test/src/process_monitor/test_process_monitor.cpp diff --git a/system/system_monitor/test/src/process_monitor/top1.cpp b/system/autoware_system_monitor/test/src/process_monitor/top1.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/top1.cpp rename to system/autoware_system_monitor/test/src/process_monitor/top1.cpp diff --git a/system/system_monitor/test/src/process_monitor/top2.cpp b/system/autoware_system_monitor/test/src/process_monitor/top2.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/top2.cpp rename to system/autoware_system_monitor/test/src/process_monitor/top2.cpp diff --git a/system/system_monitor/test/src/process_monitor/top3.cpp b/system/autoware_system_monitor/test/src/process_monitor/top3.cpp similarity index 100% rename from system/system_monitor/test/src/process_monitor/top3.cpp rename to system/autoware_system_monitor/test/src/process_monitor/top3.cpp diff --git a/system/autoware_topic_relay_controller/CHANGELOG.rst b/system/autoware_topic_relay_controller/CHANGELOG.rst new file mode 100644 index 0000000000000..e08d796d12b5d --- /dev/null +++ b/system/autoware_topic_relay_controller/CHANGELOG.rst @@ -0,0 +1,78 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_topic_relay_controller +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) + * feat: add node base + * modify: include guard + * feat: delete schema + * feat: delete config + * feat: add subscriber + * modify: add include + * feat: add publisher + * feat: add service + * modify: typo + * style(pre-commit): autofix + * modify: add include memory + * modify: add qos setting + * style(pre-commit): autofix + * feat: add enable_keep_publishing + * style(pre-commit): autofix + * feat: add readme + * style(pre-commit): autofix + * feat: change qos name and add parameter type + * feat: add config and delete arg from launch + * modify: typo + * style(pre-commit): autofix + * modify: add comment + * modify: modify comment + * feat: add maintainer + * modift: change readme param format + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, TetsuKawa + +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) + * feat: add node base + * modify: include guard + * feat: delete schema + * feat: delete config + * feat: add subscriber + * modify: add include + * feat: add publisher + * feat: add service + * modify: typo + * style(pre-commit): autofix + * modify: add include memory + * modify: add qos setting + * style(pre-commit): autofix + * feat: add enable_keep_publishing + * style(pre-commit): autofix + * feat: add readme + * style(pre-commit): autofix + * feat: change qos name and add parameter type + * feat: add config and delete arg from launch + * modify: typo + * style(pre-commit): autofix + * modify: add comment + * modify: modify comment + * feat: add maintainer + * modift: change readme param format + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, TetsuKawa + +0.40.0 (2025-01-06) +------------------- + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/system/autoware_topic_relay_controller/package.xml b/system/autoware_topic_relay_controller/package.xml index 771c7e632f49a..09cb55d3e250d 100644 --- a/system/autoware_topic_relay_controller/package.xml +++ b/system/autoware_topic_relay_controller/package.xml @@ -2,7 +2,7 @@ autoware_topic_relay_controller - 0.1.0 + 0.41.0 The topic_relay_controller ROS 2 package Makoto Kurihara Tetsuhiro Kawaguchi diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/autoware_topic_state_monitor/CHANGELOG.rst similarity index 96% rename from system/topic_state_monitor/CHANGELOG.rst rename to system/autoware_topic_state_monitor/CHANGELOG.rst index 1eebcd1bcb1b1..2eb63f5be43e0 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/autoware_topic_state_monitor/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package topic_state_monitor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_topic_state_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/topic_state_monitor/CMakeLists.txt b/system/autoware_topic_state_monitor/CMakeLists.txt similarity index 50% rename from system/topic_state_monitor/CMakeLists.txt rename to system/autoware_topic_state_monitor/CMakeLists.txt index a4a040c449cdb..822560a12e3d5 100644 --- a/system/topic_state_monitor/CMakeLists.txt +++ b/system/autoware_topic_state_monitor/CMakeLists.txt @@ -1,17 +1,17 @@ cmake_minimum_required(VERSION 3.14) -project(topic_state_monitor) +project(autoware_topic_state_monitor) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(topic_state_monitor SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/topic_state_monitor/topic_state_monitor.cpp src/topic_state_monitor_core.cpp ) -rclcpp_components_register_node(topic_state_monitor - PLUGIN "topic_state_monitor::TopicStateMonitorNode" - EXECUTABLE topic_state_monitor_node +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::topic_state_monitor::TopicStateMonitorNode" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package(INSTALL_TO_SHARE diff --git a/system/topic_state_monitor/README.md b/system/autoware_topic_state_monitor/README.md similarity index 99% rename from system/topic_state_monitor/README.md rename to system/autoware_topic_state_monitor/README.md index 28333305ef5a9..bebf096db08ac 100644 --- a/system/topic_state_monitor/README.md +++ b/system/autoware_topic_state_monitor/README.md @@ -1,4 +1,4 @@ -# topic_state_monitor +# autoware_topic_state_monitor ## Purpose diff --git a/system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor.hpp b/system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor.hpp similarity index 84% rename from system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor.hpp rename to system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor.hpp index 2057ca4c5c86c..e9a651fef3879 100644 --- a/system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor.hpp +++ b/system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ -#define TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ +#ifndef AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ +#define AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ #include #include #include -namespace topic_state_monitor +namespace autoware::topic_state_monitor { struct Param { @@ -68,6 +68,6 @@ class TopicStateMonitor bool isErrorRate() const; bool isTimeout() const; }; -} // namespace topic_state_monitor +} // namespace autoware::topic_state_monitor -#endif // TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ +#endif // AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_HPP_ diff --git a/system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor_core.hpp b/system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor_core.hpp similarity index 83% rename from system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor_core.hpp rename to system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor_core.hpp index 4696823ffbd4b..5d72d437f7b12 100644 --- a/system/topic_state_monitor/include/topic_state_monitor/topic_state_monitor_core.hpp +++ b/system/autoware_topic_state_monitor/include/autoware/topic_state_monitor/topic_state_monitor_core.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ -#define TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ +#ifndef AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ +#define AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ -#include "topic_state_monitor/topic_state_monitor.hpp" +#include "autoware/topic_state_monitor/topic_state_monitor.hpp" #include #include @@ -28,7 +28,7 @@ #include #include -namespace topic_state_monitor +namespace autoware::topic_state_monitor { struct NodeParam { @@ -74,6 +74,6 @@ class TopicStateMonitorNode : public rclcpp::Node void checkTopicStatus(diagnostic_updater::DiagnosticStatusWrapper & stat); }; -} // namespace topic_state_monitor +} // namespace autoware::topic_state_monitor -#endif // TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ +#endif // AUTOWARE__TOPIC_STATE_MONITOR__TOPIC_STATE_MONITOR_CORE_HPP_ diff --git a/system/topic_state_monitor/launch/topic_state_monitor.launch.xml b/system/autoware_topic_state_monitor/launch/topic_state_monitor.launch.xml similarity index 88% rename from system/topic_state_monitor/launch/topic_state_monitor.launch.xml rename to system/autoware_topic_state_monitor/launch/topic_state_monitor.launch.xml index 7304dc8c5a273..7df4b2b035944 100644 --- a/system/topic_state_monitor/launch/topic_state_monitor.launch.xml +++ b/system/autoware_topic_state_monitor/launch/topic_state_monitor.launch.xml @@ -10,7 +10,7 @@ - + diff --git a/system/topic_state_monitor/launch/topic_state_monitor_tf.launch.xml b/system/autoware_topic_state_monitor/launch/topic_state_monitor_tf.launch.xml similarity index 89% rename from system/topic_state_monitor/launch/topic_state_monitor_tf.launch.xml rename to system/autoware_topic_state_monitor/launch/topic_state_monitor_tf.launch.xml index 1a255a8a5859a..8a981d30969e4 100644 --- a/system/topic_state_monitor/launch/topic_state_monitor_tf.launch.xml +++ b/system/autoware_topic_state_monitor/launch/topic_state_monitor_tf.launch.xml @@ -11,7 +11,7 @@ - + diff --git a/system/topic_state_monitor/package.xml b/system/autoware_topic_state_monitor/package.xml similarity index 77% rename from system/topic_state_monitor/package.xml rename to system/autoware_topic_state_monitor/package.xml index 0468db6124666..a932d01656ba1 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/autoware_topic_state_monitor/package.xml @@ -1,10 +1,11 @@ - topic_state_monitor - 0.40.0 - The topic_state_monitor package + autoware_topic_state_monitor + 0.41.0 + The autoware_topic_state_monitor package Ryohsuke Mitsudome + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp b/system/autoware_topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp similarity index 94% rename from system/topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp rename to system/autoware_topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp index ff6806e96fac9..a688bfe501960 100644 --- a/system/topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp +++ b/system/autoware_topic_state_monitor/src/topic_state_monitor/topic_state_monitor.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "topic_state_monitor/topic_state_monitor.hpp" +#include "autoware/topic_state_monitor/topic_state_monitor.hpp" -namespace topic_state_monitor +namespace autoware::topic_state_monitor { TopicStateMonitor::TopicStateMonitor(rclcpp::Node & node) : clock_(node.get_clock()) { @@ -99,4 +99,4 @@ bool TopicStateMonitor::isTimeout() const return time_diff > param_.timeout; } -} // namespace topic_state_monitor +} // namespace autoware::topic_state_monitor diff --git a/system/topic_state_monitor/src/topic_state_monitor_core.cpp b/system/autoware_topic_state_monitor/src/topic_state_monitor_core.cpp similarity index 96% rename from system/topic_state_monitor/src/topic_state_monitor_core.cpp rename to system/autoware_topic_state_monitor/src/topic_state_monitor_core.cpp index ff58a0c6fd584..5947136b1cd57 100644 --- a/system/topic_state_monitor/src/topic_state_monitor_core.cpp +++ b/system/autoware_topic_state_monitor/src/topic_state_monitor_core.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "topic_state_monitor/topic_state_monitor_core.hpp" +#include "autoware/topic_state_monitor/topic_state_monitor_core.hpp" #include #include @@ -34,7 +34,7 @@ void update_param( } } // namespace -namespace topic_state_monitor +namespace autoware::topic_state_monitor { TopicStateMonitorNode::TopicStateMonitorNode(const rclcpp::NodeOptions & node_options) : Node("topic_state_monitor", node_options), updater_(this) @@ -205,7 +205,7 @@ void TopicStateMonitorNode::checkTopicStatus(diagnostic_updater::DiagnosticStatu stat.summary(level, msg); } -} // namespace topic_state_monitor +} // namespace autoware::topic_state_monitor #include -RCLCPP_COMPONENTS_REGISTER_NODE(topic_state_monitor::TopicStateMonitorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::topic_state_monitor::TopicStateMonitorNode) diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/autoware_velodyne_monitor/CHANGELOG.rst similarity index 95% rename from system/velodyne_monitor/CHANGELOG.rst rename to system/autoware_velodyne_monitor/CHANGELOG.rst index 4cc3be4c7a3f0..87a23f9e4b660 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/autoware_velodyne_monitor/CHANGELOG.rst @@ -1,6 +1,12 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne_monitor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_velodyne_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `velodyne_monitor` (`#9976 `_) +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/system/velodyne_monitor/CMakeLists.txt b/system/autoware_velodyne_monitor/CMakeLists.txt similarity index 83% rename from system/velodyne_monitor/CMakeLists.txt rename to system/autoware_velodyne_monitor/CMakeLists.txt index a09e1fe1bf012..ab2fe0aa5f56d 100644 --- a/system/velodyne_monitor/CMakeLists.txt +++ b/system/autoware_velodyne_monitor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(velodyne_monitor) +project(autoware_velodyne_monitor) find_package(autoware_cmake REQUIRED) find_package(fmt) @@ -13,7 +13,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED target_link_libraries(${PROJECT_NAME} cpprest crypto fmt) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "VelodyneMonitor" + PLUGIN "autoware::velodyne_monitor::VelodyneMonitor" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/system/velodyne_monitor/README.md b/system/autoware_velodyne_monitor/README.md similarity index 99% rename from system/velodyne_monitor/README.md rename to system/autoware_velodyne_monitor/README.md index f8381dbd41159..9d45f3d6a501f 100644 --- a/system/velodyne_monitor/README.md +++ b/system/autoware_velodyne_monitor/README.md @@ -1,4 +1,4 @@ -# velodyne_monitor +# autoware_velodyne_monitor ## Purpose diff --git a/system/velodyne_monitor/config/HDL-32E.param.yaml b/system/autoware_velodyne_monitor/config/HDL-32E.param.yaml similarity index 100% rename from system/velodyne_monitor/config/HDL-32E.param.yaml rename to system/autoware_velodyne_monitor/config/HDL-32E.param.yaml diff --git a/system/velodyne_monitor/config/VLP-16.param.yaml b/system/autoware_velodyne_monitor/config/VLP-16.param.yaml similarity index 100% rename from system/velodyne_monitor/config/VLP-16.param.yaml rename to system/autoware_velodyne_monitor/config/VLP-16.param.yaml diff --git a/system/velodyne_monitor/config/VLP-32C.param.yaml b/system/autoware_velodyne_monitor/config/VLP-32C.param.yaml similarity index 100% rename from system/velodyne_monitor/config/VLP-32C.param.yaml rename to system/autoware_velodyne_monitor/config/VLP-32C.param.yaml diff --git a/system/velodyne_monitor/config/VLS-128.param.yaml b/system/autoware_velodyne_monitor/config/VLS-128.param.yaml similarity index 100% rename from system/velodyne_monitor/config/VLS-128.param.yaml rename to system/autoware_velodyne_monitor/config/VLS-128.param.yaml diff --git a/system/velodyne_monitor/config/Velarray_M1600.param.yaml b/system/autoware_velodyne_monitor/config/Velarray_M1600.param.yaml similarity index 100% rename from system/velodyne_monitor/config/Velarray_M1600.param.yaml rename to system/autoware_velodyne_monitor/config/Velarray_M1600.param.yaml diff --git a/system/velodyne_monitor/include/velodyne_monitor/velodyne_monitor.hpp b/system/autoware_velodyne_monitor/include/autoware/velodyne_monitor/velodyne_monitor.hpp similarity index 94% rename from system/velodyne_monitor/include/velodyne_monitor/velodyne_monitor.hpp rename to system/autoware_velodyne_monitor/include/autoware/velodyne_monitor/velodyne_monitor.hpp index 841199a845bbf..092dcb24d7ae9 100644 --- a/system/velodyne_monitor/include/velodyne_monitor/velodyne_monitor.hpp +++ b/system/autoware_velodyne_monitor/include/autoware/velodyne_monitor/velodyne_monitor.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ -#define VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ +#ifndef AUTOWARE__VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ +#define AUTOWARE__VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ /** * @file velodyne_monitor.hpp @@ -31,6 +31,9 @@ // Include after diagnostic_updater because it causes errors #include +namespace autoware::velodyne_monitor +{ + namespace http = web::http; namespace client = web::http::client; namespace json = web::json; @@ -115,4 +118,6 @@ class VelodyneMonitor : public rclcpp::Node {DiagStatus::OK, "OK"}, {DiagStatus::WARN, "RPM low"}, {DiagStatus::ERROR, "RPM too low"}}; }; -#endif // VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ +} // namespace autoware::velodyne_monitor + +#endif // AUTOWARE__VELODYNE_MONITOR__VELODYNE_MONITOR_HPP_ diff --git a/system/velodyne_monitor/launch/velodyne_monitor.launch.xml b/system/autoware_velodyne_monitor/launch/velodyne_monitor.launch.xml similarity index 57% rename from system/velodyne_monitor/launch/velodyne_monitor.launch.xml rename to system/autoware_velodyne_monitor/launch/velodyne_monitor.launch.xml index 0dbbc39a9f9e4..3d72d4f1f077e 100644 --- a/system/velodyne_monitor/launch/velodyne_monitor.launch.xml +++ b/system/autoware_velodyne_monitor/launch/velodyne_monitor.launch.xml @@ -1,8 +1,8 @@ - + - + diff --git a/system/velodyne_monitor/package.xml b/system/autoware_velodyne_monitor/package.xml similarity index 79% rename from system/velodyne_monitor/package.xml rename to system/autoware_velodyne_monitor/package.xml index 0dc8ae5f00a5d..daf843c09ef14 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/autoware_velodyne_monitor/package.xml @@ -1,10 +1,11 @@ - velodyne_monitor - 0.40.0 - The velodyne_monitor package + autoware_velodyne_monitor + 0.41.0 + The autoware_velodyne_monitor package Fumihito Ito + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/system/velodyne_monitor/schema/velodyne_monitor.json b/system/autoware_velodyne_monitor/schema/velodyne_monitor.json similarity index 100% rename from system/velodyne_monitor/schema/velodyne_monitor.json rename to system/autoware_velodyne_monitor/schema/velodyne_monitor.json diff --git a/system/velodyne_monitor/src/velodyne_monitor.cpp b/system/autoware_velodyne_monitor/src/velodyne_monitor.cpp similarity index 97% rename from system/velodyne_monitor/src/velodyne_monitor.cpp rename to system/autoware_velodyne_monitor/src/velodyne_monitor.cpp index f9ab3ea14b4c0..83429229b7c4c 100644 --- a/system/velodyne_monitor/src/velodyne_monitor.cpp +++ b/system/autoware_velodyne_monitor/src/velodyne_monitor.cpp @@ -17,7 +17,7 @@ * @brief Velodyne monitor class */ -#include "velodyne_monitor/velodyne_monitor.hpp" +#include "autoware/velodyne_monitor/velodyne_monitor.hpp" #include @@ -30,6 +30,9 @@ #define FMT_HEADER_ONLY #include +namespace autoware::velodyne_monitor +{ + VelodyneMonitor::VelodyneMonitor(const rclcpp::NodeOptions & options) : Node("velodyne_monitor", options), updater_(this) { @@ -231,5 +234,7 @@ float VelodyneMonitor::convertTemperature(int raw) return std::sqrt(2.1962e6 + (1.8639 - static_cast(raw) * 5.0 / 4096) / 3.88e-6) - 1481.96; } +} // namespace autoware::velodyne_monitor + #include -RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneMonitor) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::velodyne_monitor::VelodyneMonitor) diff --git a/system/diagnostic_graph_aggregator/example/example-edit.launch.xml b/system/diagnostic_graph_aggregator/example/example-edit.launch.xml deleted file mode 100644 index d56f76b1726cf..0000000000000 --- a/system/diagnostic_graph_aggregator/example/example-edit.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/system/diagnostic_graph_aggregator/example/example-main.launch.xml b/system/diagnostic_graph_aggregator/example/example-main.launch.xml deleted file mode 100644 index b7019640e993c..0000000000000 --- a/system/diagnostic_graph_aggregator/example/example-main.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml b/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml deleted file mode 100644 index c06c3d1d96cfa..0000000000000 --- a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/system/mrm_comfortable_stop_operator/CMakeLists.txt b/system/mrm_comfortable_stop_operator/CMakeLists.txt deleted file mode 100644 index 19bc4f6d66d5f..0000000000000 --- a/system/mrm_comfortable_stop_operator/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(mrm_comfortable_stop_operator) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(mrm_comfortable_stop_operator_component SHARED - src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp -) - -rclcpp_components_register_node(mrm_comfortable_stop_operator_component - PLUGIN "mrm_comfortable_stop_operator::MrmComfortableStopOperator" - EXECUTABLE mrm_comfortable_stop_operator) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) diff --git a/system/mrm_emergency_stop_operator/CMakeLists.txt b/system/mrm_emergency_stop_operator/CMakeLists.txt deleted file mode 100644 index 77d300f5c370b..0000000000000 --- a/system/mrm_emergency_stop_operator/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(mrm_emergency_stop_operator) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(mrm_emergency_stop_operator_component SHARED - src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp -) - -rclcpp_components_register_node(mrm_emergency_stop_operator_component - PLUGIN "mrm_emergency_stop_operator::MrmEmergencyStopOperator" - EXECUTABLE mrm_emergency_stop_operator) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) diff --git a/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml b/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml deleted file mode 100644 index 8e2566a747abf..0000000000000 --- a/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index f2f1ac255fc06..b1bd59f3f33de 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package reaction_analyzer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index 540376e032743..9d1928813f07e 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 0.40.0 + 0.41.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index cbd3907bd854a..3936c60ca160b 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package autoware_accel_brake_map_calibrator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_accel_brake_map_calibrator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_accel_brake_map_calibrator (`#9923 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index f166bd119ed6a..78c3b518057de 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.40.0 + 0.41.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index ddbd655a9c34f..dbb5e1d429613 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_external_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index eb44058775a3f..b28b9b6f3dd24 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.40.0 + 0.41.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index de088bb8d5a76..630698c89bbbe 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_raw_vehicle_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter (`#9924 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_raw_vehicle_cmd_converter + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* fix(raw_veihicle_converter): fix too long line (`#9716 `_) +* feat(raw_vehicle_cmd_converter): add vehicle adaptor (`#8782 `_) + * feat(raw_vehicle_cmd_converter): add vehicle adaptor + sub operation status + * feat(raw_vehicle_cmd_converter): publish vehicle adaptor output + * use control horizon + * revert carla + * update docs + --------- +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 0abb77644920a..2a200ea92967d 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.40.0 + 0.41.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index 4e4f9c1a39a66..b2e8e642f936a 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_steer_offset_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(autoware_steer_offset_estimator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_steer_offset_estimator (`#9926 `_) + feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_steer_offset_estimator + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Vishal Chauhan + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index e098fbdee6f28..5673025dbb54a 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.40.0 + 0.41.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 diff --git a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst similarity index 78% rename from visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst rename to visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst index df222e8eb584e..226a8fa910ba8 100644 --- a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -1,6 +1,15 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package bag_time_manager_rviz_plugin -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_bag_time_manager_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: apply `autoware\_` prefix for `bag_time_manager_rviz_plugin` (`#9986 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: SakodaShintaro + Co-authored-by: Ryohsuke Mitsudome +* Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- diff --git a/visualization/bag_time_manager_rviz_plugin/CMakeLists.txt b/visualization/autoware_bag_time_manager_rviz_plugin/CMakeLists.txt similarity index 92% rename from visualization/bag_time_manager_rviz_plugin/CMakeLists.txt rename to visualization/autoware_bag_time_manager_rviz_plugin/CMakeLists.txt index ccf9961fc55cc..5ee02349f7d96 100644 --- a/visualization/bag_time_manager_rviz_plugin/CMakeLists.txt +++ b/visualization/autoware_bag_time_manager_rviz_plugin/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(bag_time_manager_rviz_plugin) +project(autoware_bag_time_manager_rviz_plugin) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/visualization/bag_time_manager_rviz_plugin/README.md b/visualization/autoware_bag_time_manager_rviz_plugin/README.md similarity index 92% rename from visualization/bag_time_manager_rviz_plugin/README.md rename to visualization/autoware_bag_time_manager_rviz_plugin/README.md index 2fad6b2204bb9..58d81d06dffa4 100644 --- a/visualization/bag_time_manager_rviz_plugin/README.md +++ b/visualization/autoware_bag_time_manager_rviz_plugin/README.md @@ -1,4 +1,4 @@ -# bag_time_manager_rviz_plugin +# autoware_bag_time_manager_rviz_plugin ## Purpose diff --git a/visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png b/visualization/autoware_bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png similarity index 100% rename from visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png rename to visualization/autoware_bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png diff --git a/visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png b/visualization/autoware_bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png similarity index 100% rename from visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png rename to visualization/autoware_bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png diff --git a/visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png b/visualization/autoware_bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png similarity index 100% rename from visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png rename to visualization/autoware_bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png diff --git a/visualization/bag_time_manager_rviz_plugin/images/select_panels.png b/visualization/autoware_bag_time_manager_rviz_plugin/images/select_panels.png similarity index 100% rename from visualization/bag_time_manager_rviz_plugin/images/select_panels.png rename to visualization/autoware_bag_time_manager_rviz_plugin/images/select_panels.png diff --git a/visualization/bag_time_manager_rviz_plugin/package.xml b/visualization/autoware_bag_time_manager_rviz_plugin/package.xml similarity index 85% rename from visualization/bag_time_manager_rviz_plugin/package.xml rename to visualization/autoware_bag_time_manager_rviz_plugin/package.xml index 365dad286d22c..481eac1ac8f21 100644 --- a/visualization/bag_time_manager_rviz_plugin/package.xml +++ b/visualization/autoware_bag_time_manager_rviz_plugin/package.xml @@ -1,10 +1,11 @@ - bag_time_manager_rviz_plugin - 0.40.0 + autoware_bag_time_manager_rviz_plugin + 0.41.0 Rviz plugin to publish and control the ros bag Taiki Tanaka + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml b/visualization/autoware_bag_time_manager_rviz_plugin/plugins/plugin_description.xml similarity index 52% rename from visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml rename to visualization/autoware_bag_time_manager_rviz_plugin/plugins/plugin_description.xml index 2a3bbf667b715..f8c678a75b4ee 100644 --- a/visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml +++ b/visualization/autoware_bag_time_manager_rviz_plugin/plugins/plugin_description.xml @@ -1,7 +1,7 @@ - + Panel that publishes a service to modify its speed. diff --git a/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp similarity index 92% rename from visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp rename to visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp index cae9660b51266..7ab003e2880de 100644 --- a/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp +++ b/visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp @@ -1,5 +1,5 @@ // -// Copyright 2022 Tier IV, Inc. All rights reserved. +// Copyright 2025 Tier IV, Inc. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -23,7 +23,7 @@ #include -namespace rviz_plugins +namespace autoware::visualization::bag_time_manager_rviz_plugin { BagTimeManagerPanel::BagTimeManagerPanel(QWidget * parent) : rviz_common::Panel(parent) { @@ -111,7 +111,8 @@ void BagTimeManagerPanel::onApplyRateClicked() } }); } -} // namespace rviz_plugins +} // namespace autoware::visualization::bag_time_manager_rviz_plugin #include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::BagTimeManagerPanel, rviz_common::Panel) +PLUGINLIB_EXPORT_CLASS( + autoware::visualization::bag_time_manager_rviz_plugin::BagTimeManagerPanel, rviz_common::Panel) diff --git a/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp b/visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp similarity index 91% rename from visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp rename to visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp index 2cc4b98a6dabf..710d20046a548 100644 --- a/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp +++ b/visualization/autoware_bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp @@ -1,5 +1,5 @@ // -// Copyright 2022 Tier IV, Inc. All rights reserved. +// Copyright 2025 Tier IV, Inc. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -29,7 +29,7 @@ #include #include -namespace rviz_plugins +namespace autoware::visualization::bag_time_manager_rviz_plugin { using rosbag2_interfaces::srv::Pause; using rosbag2_interfaces::srv::Resume; @@ -67,6 +67,6 @@ protected Q_SLOTS: STATE current_state_{RESUME}; }; -} // namespace rviz_plugins +} // namespace autoware::visualization::bag_time_manager_rviz_plugin #endif // BAG_TIME_MANAGER_PANEL_HPP_ diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 91b2ce31af3bf..01fe650191a47 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 82b4c10194131..7323b3b6594c5 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.40.0 + 0.41.0 RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 44c9901bda3ec..0f3b61630d790 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package autoware_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(autoware_overlay_rviz_plugin): fix clang-tidy errors (`#9627 `_) + * fix: clang-tidy errors + * fix: clang-fmt + --------- +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 86bab15660d4d..fed43c91ddcdb 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.40.0 + 0.41.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..bbcb0616d9ca2 --- /dev/null +++ b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,40 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_string_stamped_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) +* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) + * feat(autoware_overlay_rviz_plugin): add plugin to show string stamped + * fix + * better visualization + * update + * fix cpp check and typo + * fix + * fix + --------- +* Contributors: Fumiya Watanabe, Takayuki Murooka + +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) +* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) + * feat(autoware_overlay_rviz_plugin): add plugin to show string stamped + * fix + * better visualization + * update + * fix cpp check and typo + * fix + * fix + --------- +* Contributors: Fumiya Watanabe, Takayuki Murooka + +0.40.0 (2025-01-06) +------------------- + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml index faef2f674832e..a7267c3dc2896 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_string_stamped_rviz_plugin - 0.40.0 + 0.41.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst index a1b325e441fc0..6f585a963c1c8 100644 --- a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package autoware_perception_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml index b3d2d69a34f35..000a50c8c9428 100644 --- a/visualization/autoware_perception_rviz_plugin/package.xml +++ b/visualization/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 0.40.0 + 0.41.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst index 32c8d0a621304..41232c228872d 100644 --- a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tier4_adapi_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat: operation mode debug panel (`#8933 `_) +* Contributors: Fumiya Watanabe, Takagi, Isamu + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt b/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt index f06ab33823a3f..c65f1de69e414 100644 --- a/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt +++ b/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt @@ -12,7 +12,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON) ament_auto_add_library(${PROJECT_NAME} SHARED src/route_tool.cpp src/route_panel.cpp - src/state_panel.cpp + src/operation_mode_debug_panel.cpp src/door_panel.cpp ) diff --git a/visualization/tier4_adapi_rviz_plugin/README.md b/visualization/tier4_adapi_rviz_plugin/README.md index 4056130776178..e067e6d09b11d 100644 --- a/visualization/tier4_adapi_rviz_plugin/README.md +++ b/visualization/tier4_adapi_rviz_plugin/README.md @@ -1,5 +1,7 @@ # tier4_adapi_rviz_plugin +This package contains tools for testing AD API. For general AD API usage, we recommend using [tier4_state_rviz_plugin](../tier4_state_rviz_plugin/README.md). + ## RoutePanel To use the panel, set the topic name from 2D Goal Pose Tool to `/rviz/routing/pose`. diff --git a/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png and /dev/null differ diff --git a/visualization/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml index da1af7b150c70..eaf02a0653d49 100644 --- a/visualization/tier4_adapi_rviz_plugin/package.xml +++ b/visualization/tier4_adapi_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_adapi_rviz_plugin - 0.40.0 + 0.41.0 The autoware adapi rviz plugin package Takagi, Isamu Hiroki OTA diff --git a/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml index 0b4f00bd56278..5eaa5ec658be1 100644 --- a/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml +++ b/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml @@ -8,8 +8,8 @@ RoutePanel - - StatePanel + + OperationModeDebugPanel diff --git a/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.cpp new file mode 100644 index 0000000000000..8476039b3d2a4 --- /dev/null +++ b/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.cpp @@ -0,0 +1,221 @@ +// +// Copyright 2020 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +#include "operation_mode_debug_panel.hpp" + +#include +#include +#include + +#include +#include + +namespace tier4_adapi_rviz_plugins +{ + +OperationModeDebugPanel::OperationModeDebugPanel(QWidget * parent) : rviz_common::Panel(parent) +{ + auto * layout = new QGridLayout; + setLayout(layout); + + operation_mode_label_ptr_ = new QLabel("INIT"); + operation_mode_label_ptr_->setAlignment(Qt::AlignCenter); + operation_mode_label_ptr_->setStyleSheet("border:1px solid black;"); + layout->addWidget(operation_mode_label_ptr_, 0, 0, 2, 1); + + auto_button_ptr_ = new QPushButton("AUTO"); + connect(auto_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutonomous())); + layout->addWidget(auto_button_ptr_, 0, 1); + + stop_button_ptr_ = new QPushButton("STOP"); + connect(stop_button_ptr_, SIGNAL(clicked()), SLOT(onClickStop())); + layout->addWidget(stop_button_ptr_, 0, 2); + + local_button_ptr_ = new QPushButton("LOCAL"); + connect(local_button_ptr_, SIGNAL(clicked()), SLOT(onClickLocal())); + layout->addWidget(local_button_ptr_, 1, 1); + + remote_button_ptr_ = new QPushButton("REMOTE"); + connect(remote_button_ptr_, SIGNAL(clicked()), SLOT(onClickRemote())); + layout->addWidget(remote_button_ptr_, 1, 2); + + control_mode_label_ptr_ = new QLabel("INIT"); + control_mode_label_ptr_->setAlignment(Qt::AlignCenter); + control_mode_label_ptr_->setStyleSheet("border:1px solid black;"); + layout->addWidget(control_mode_label_ptr_, 2, 0); + + enable_button_ptr_ = new QPushButton("Enable"); + connect(enable_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareControl())); + layout->addWidget(enable_button_ptr_, 2, 1); + + disable_button_ptr_ = new QPushButton("Disable"); + connect(disable_button_ptr_, SIGNAL(clicked()), SLOT(onClickDirectControl())); + layout->addWidget(disable_button_ptr_, 2, 2); +} + +void OperationModeDebugPanel::onInitialize() +{ + raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); + + sub_operation_mode_ = raw_node_->create_subscription( + "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), + std::bind(&OperationModeDebugPanel::onOperationMode, this, std::placeholders::_1)); + + client_change_to_autonomous_ = + raw_node_->create_client("/api/operation_mode/change_to_autonomous"); + + client_change_to_stop_ = + raw_node_->create_client("/api/operation_mode/change_to_stop"); + + client_change_to_local_ = + raw_node_->create_client("/api/operation_mode/change_to_local"); + + client_change_to_remote_ = + raw_node_->create_client("/api/operation_mode/change_to_remote"); + + client_enable_autoware_control_ = + raw_node_->create_client("/api/operation_mode/enable_autoware_control"); + + client_enable_direct_control_ = + raw_node_->create_client("/api/operation_mode/disable_autoware_control"); +} + +template +void callService(const rclcpp::Logger & logger, const typename rclcpp::Client::SharedPtr client) +{ + auto req = std::make_shared(); + + RCLCPP_DEBUG(logger, "client request"); + + if (!client->service_is_ready()) { + RCLCPP_DEBUG(logger, "client is unavailable"); + return; + } + + client->async_send_request(req, [logger](typename rclcpp::Client::SharedFuture result) { + RCLCPP_DEBUG( + logger, "Status: %d, %s", result.get()->status.code, result.get()->status.message.c_str()); + }); +} + +void OperationModeDebugPanel::onClickAutonomous() +{ + callService(raw_node_->get_logger(), client_change_to_autonomous_); +} + +void OperationModeDebugPanel::onClickStop() +{ + callService(raw_node_->get_logger(), client_change_to_stop_); +} + +void OperationModeDebugPanel::onClickLocal() +{ + callService(raw_node_->get_logger(), client_change_to_local_); +} + +void OperationModeDebugPanel::onClickRemote() +{ + callService(raw_node_->get_logger(), client_change_to_remote_); +} + +void OperationModeDebugPanel::onClickAutowareControl() +{ + callService(raw_node_->get_logger(), client_enable_autoware_control_); +} + +void OperationModeDebugPanel::onClickDirectControl() +{ + callService(raw_node_->get_logger(), client_enable_direct_control_); +} + +void OperationModeDebugPanel::onOperationMode(const OperationModeState::ConstSharedPtr msg) +{ + const auto updateLabel = [](QLabel * label, QString text, QString style) { + label->setText(text); + label->setStyleSheet(style); + }; + + const auto updateButton = [](QPushButton * button, bool available) { + if (available) { + button->setStyleSheet("color: black;"); + } else { + button->setStyleSheet("color: white;"); + } + }; + + // Update current operation mode. + + QString state = ""; + QString style = ""; + + switch (msg->mode) { + case OperationModeState::AUTONOMOUS: + state = "AUTONOMOUS"; + style = "background-color: #00FF00;"; // green + break; + + case OperationModeState::LOCAL: + state = "LOCAL"; + style = "background-color: #FFFF00;"; // yellow + break; + + case OperationModeState::REMOTE: + state = "REMOTE"; + style = "background-color: #FFFF00;"; // yellow + break; + + case OperationModeState::STOP: + state = "STOP"; + style = "background-color: #FFA500;"; // orange + break; + + default: + state = "UNKNOWN (" + QString::number(msg->mode) + ")"; + style = "background-color: #FF0000;"; // red + break; + } + + if (msg->is_in_transition) { + state += "\n(TRANSITION)"; + } + + updateLabel(operation_mode_label_ptr_, state, style); + + // Update current control mode. + + if (msg->is_autoware_control_enabled) { + updateLabel(control_mode_label_ptr_, "Enable", "background-color: #00FF00;"); // green + } else { + updateLabel(control_mode_label_ptr_, "Disable", "background-color: #FFFF00;"); // yellow + } + + // Update operation mode available. + + updateButton(auto_button_ptr_, msg->is_autonomous_mode_available); + updateButton(stop_button_ptr_, msg->is_stop_mode_available); + updateButton(local_button_ptr_, msg->is_local_mode_available); + updateButton(remote_button_ptr_, msg->is_remote_mode_available); + + // Update control mode available. + + updateButton(enable_button_ptr_, true); + updateButton(disable_button_ptr_, true); +} + +} // namespace tier4_adapi_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(tier4_adapi_rviz_plugins::OperationModeDebugPanel, rviz_common::Panel) diff --git a/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.hpp new file mode 100644 index 0000000000000..52eeb8da74493 --- /dev/null +++ b/visualization/tier4_adapi_rviz_plugin/src/operation_mode_debug_panel.hpp @@ -0,0 +1,76 @@ +// +// Copyright 2020 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +#ifndef OPERATION_MODE_DEBUG_PANEL_HPP_ +#define OPERATION_MODE_DEBUG_PANEL_HPP_ + +#include +#include +#include +#include + +#include +#include + +namespace tier4_adapi_rviz_plugins +{ + +class OperationModeDebugPanel : public rviz_common::Panel +{ + Q_OBJECT + +public: + explicit OperationModeDebugPanel(QWidget * parent = nullptr); + void onInitialize() override; + +public Q_SLOTS: // NOLINT for Qt + void onClickAutonomous(); + void onClickStop(); + void onClickLocal(); + void onClickRemote(); + void onClickAutowareControl(); + void onClickDirectControl(); + +protected: + using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; + using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + + QLabel * operation_mode_label_ptr_{nullptr}; + QPushButton * stop_button_ptr_{nullptr}; + QPushButton * auto_button_ptr_{nullptr}; + QPushButton * local_button_ptr_{nullptr}; + QPushButton * remote_button_ptr_{nullptr}; + + QLabel * control_mode_label_ptr_{nullptr}; + QPushButton * enable_button_ptr_{nullptr}; + QPushButton * disable_button_ptr_{nullptr}; + + rclcpp::Node::SharedPtr raw_node_; + rclcpp::Subscription::SharedPtr sub_operation_mode_; + rclcpp::Client::SharedPtr client_change_to_autonomous_; + rclcpp::Client::SharedPtr client_change_to_stop_; + rclcpp::Client::SharedPtr client_change_to_local_; + rclcpp::Client::SharedPtr client_change_to_remote_; + rclcpp::Client::SharedPtr client_enable_autoware_control_; + rclcpp::Client::SharedPtr client_enable_direct_control_; + + void onOperationMode(const OperationModeState::ConstSharedPtr msg); + void changeOperationMode(const rclcpp::Client::SharedPtr client); +}; + +} // namespace tier4_adapi_rviz_plugins + +#endif // OPERATION_MODE_DEBUG_PANEL_HPP_ diff --git a/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp deleted file mode 100644 index 0525f5fdc1a09..0000000000000 --- a/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp +++ /dev/null @@ -1,633 +0,0 @@ -// -// Copyright 2020 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "state_panel.hpp" - -#include -#include -#include -#include -#include -#include - -#include -#include - -namespace tier4_adapi_rviz_plugins -{ - -StatePanel::StatePanel(QWidget * parent) : rviz_common::Panel(parent) -{ - // Gear - auto * gear_prefix_label_ptr = new QLabel("GEAR: "); - gear_prefix_label_ptr->setAlignment(Qt::AlignRight | Qt::AlignVCenter); - gear_label_ptr_ = new QLabel("INIT"); - gear_label_ptr_->setAlignment(Qt::AlignCenter); - auto * gear_layout = new QHBoxLayout; - gear_layout->addWidget(gear_prefix_label_ptr); - gear_layout->addWidget(gear_label_ptr_); - - // Velocity Limit - velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); - pub_velocity_limit_input_ = new QSpinBox(); - pub_velocity_limit_input_->setRange(-100.0, 100.0); - pub_velocity_limit_input_->setValue(0.0); - pub_velocity_limit_input_->setSingleStep(5.0); - connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); - - // Emergency Button - emergency_button_ptr_ = new QPushButton("Set Emergency"); - connect(emergency_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickEmergencyButton())); - - // Layout - auto * v_layout = new QVBoxLayout; - auto * velocity_limit_layout = new QHBoxLayout(); - v_layout->addWidget(makeOperationModeGroup()); - v_layout->addWidget(makeControlModeGroup()); - { - auto * h_layout = new QHBoxLayout(); - h_layout->addWidget(makeRoutingGroup()); - h_layout->addWidget(makeLocalizationGroup()); - h_layout->addWidget(makeMotionGroup()); - h_layout->addWidget(makeFailSafeGroup()); - v_layout->addLayout(h_layout); - } - - v_layout->addLayout(gear_layout); - velocity_limit_layout->addWidget(velocity_limit_button_ptr_); - velocity_limit_layout->addWidget(pub_velocity_limit_input_); - velocity_limit_layout->addWidget(new QLabel(" [km/h]")); - velocity_limit_layout->addWidget(emergency_button_ptr_); - v_layout->addLayout(velocity_limit_layout); - setLayout(v_layout); -} - -QGroupBox * StatePanel::makeOperationModeGroup() -{ - auto * group = new QGroupBox("OperationMode"); - auto * grid = new QGridLayout; - - operation_mode_label_ptr_ = new QLabel("INIT"); - operation_mode_label_ptr_->setAlignment(Qt::AlignCenter); - operation_mode_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(operation_mode_label_ptr_, 0, 0, 0, 1); - - auto_button_ptr_ = new QPushButton("AUTO"); - auto_button_ptr_->setCheckable(true); - connect(auto_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutonomous())); - grid->addWidget(auto_button_ptr_, 0, 1); - - stop_button_ptr_ = new QPushButton("STOP"); - stop_button_ptr_->setCheckable(true); - connect(stop_button_ptr_, SIGNAL(clicked()), SLOT(onClickStop())); - grid->addWidget(stop_button_ptr_, 0, 2); - - local_button_ptr_ = new QPushButton("LOCAL"); - local_button_ptr_->setCheckable(true); - connect(local_button_ptr_, SIGNAL(clicked()), SLOT(onClickLocal())); - grid->addWidget(local_button_ptr_, 1, 1); - - remote_button_ptr_ = new QPushButton("REMOTE"); - remote_button_ptr_->setCheckable(true); - connect(remote_button_ptr_, SIGNAL(clicked()), SLOT(onClickRemote())); - grid->addWidget(remote_button_ptr_, 1, 2); - - group->setLayout(grid); - return group; -} - -QGroupBox * StatePanel::makeControlModeGroup() -{ - auto * group = new QGroupBox("AutowareControl"); - auto * grid = new QGridLayout; - - control_mode_label_ptr_ = new QLabel("INIT"); - control_mode_label_ptr_->setAlignment(Qt::AlignCenter); - control_mode_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(control_mode_label_ptr_, 0, 0); - - enable_button_ptr_ = new QPushButton("Enable"); - enable_button_ptr_->setCheckable(true); - connect(enable_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareControl())); - grid->addWidget(enable_button_ptr_, 0, 1); - - disable_button_ptr_ = new QPushButton("Disable"); - disable_button_ptr_->setCheckable(true); - connect(disable_button_ptr_, SIGNAL(clicked()), SLOT(onClickDirectControl())); - grid->addWidget(disable_button_ptr_, 0, 2); - - group->setLayout(grid); - return group; -} - -QGroupBox * StatePanel::makeRoutingGroup() -{ - auto * group = new QGroupBox("Routing"); - auto * grid = new QGridLayout; - - routing_label_ptr_ = new QLabel("INIT"); - routing_label_ptr_->setAlignment(Qt::AlignCenter); - routing_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(routing_label_ptr_, 0, 0); - - clear_route_button_ptr_ = new QPushButton("Clear Route"); - clear_route_button_ptr_->setCheckable(true); - connect(clear_route_button_ptr_, SIGNAL(clicked()), SLOT(onClickClearRoute())); - grid->addWidget(clear_route_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * StatePanel::makeLocalizationGroup() -{ - auto * group = new QGroupBox("Localization"); - auto * grid = new QGridLayout; - - localization_label_ptr_ = new QLabel("INIT"); - localization_label_ptr_->setAlignment(Qt::AlignCenter); - localization_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(localization_label_ptr_, 0, 0); - - init_by_gnss_button_ptr_ = new QPushButton("Init by GNSS"); - connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss())); - grid->addWidget(init_by_gnss_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * StatePanel::makeMotionGroup() -{ - auto * group = new QGroupBox("Motion"); - auto * grid = new QGridLayout; - - motion_label_ptr_ = new QLabel("INIT"); - motion_label_ptr_->setAlignment(Qt::AlignCenter); - motion_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(motion_label_ptr_, 0, 0); - - accept_start_button_ptr_ = new QPushButton("Accept Start"); - accept_start_button_ptr_->setCheckable(true); - connect(accept_start_button_ptr_, SIGNAL(clicked()), SLOT(onClickAcceptStart())); - grid->addWidget(accept_start_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * StatePanel::makeFailSafeGroup() -{ - auto * group = new QGroupBox("FailSafe"); - auto * grid = new QGridLayout; - - mrm_state_label_ptr_ = new QLabel("INIT"); - mrm_state_label_ptr_->setAlignment(Qt::AlignCenter); - mrm_state_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(mrm_state_label_ptr_, 0, 0); - - mrm_behavior_label_ptr_ = new QLabel("INIT"); - mrm_behavior_label_ptr_->setAlignment(Qt::AlignCenter); - mrm_behavior_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(mrm_behavior_label_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -void StatePanel::onInitialize() -{ - using std::placeholders::_1; - - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - // Operation Mode - sub_operation_mode_ = raw_node_->create_subscription( - "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), - std::bind(&StatePanel::onOperationMode, this, _1)); - - client_change_to_autonomous_ = - raw_node_->create_client("/api/operation_mode/change_to_autonomous"); - - client_change_to_stop_ = - raw_node_->create_client("/api/operation_mode/change_to_stop"); - - client_change_to_local_ = - raw_node_->create_client("/api/operation_mode/change_to_local"); - - client_change_to_remote_ = - raw_node_->create_client("/api/operation_mode/change_to_remote"); - - client_enable_autoware_control_ = - raw_node_->create_client("/api/operation_mode/enable_autoware_control"); - - client_enable_direct_control_ = - raw_node_->create_client("/api/operation_mode/disable_autoware_control"); - - // Routing - sub_route_ = raw_node_->create_subscription( - "/api/routing/state", rclcpp::QoS{1}.transient_local(), - std::bind(&StatePanel::onRoute, this, _1)); - - client_clear_route_ = raw_node_->create_client("/api/routing/clear_route"); - - // Localization - sub_localization_ = raw_node_->create_subscription( - "/api/localization/initialization_state", rclcpp::QoS{1}.transient_local(), - std::bind(&StatePanel::onLocalization, this, _1)); - - client_init_by_gnss_ = - raw_node_->create_client("/api/localization/initialize"); - - // Motion - sub_motion_ = raw_node_->create_subscription( - "/api/motion/state", rclcpp::QoS{1}.transient_local(), - std::bind(&StatePanel::onMotion, this, _1)); - - client_accept_start_ = raw_node_->create_client("/api/motion/accept_start"); - - // FailSafe - sub_mrm_ = raw_node_->create_subscription( - "/api/fail_safe/mrm_state", rclcpp::QoS{1}.transient_local(), - std::bind(&StatePanel::onMRMState, this, _1)); - - // Others - sub_gear_ = raw_node_->create_subscription( - "/vehicle/status/gear_status", 10, std::bind(&StatePanel::onShift, this, _1)); - - sub_emergency_ = raw_node_->create_subscription( - "/api/autoware/get/emergency", 10, std::bind(&StatePanel::onEmergencyStatus, this, _1)); - - client_emergency_stop_ = raw_node_->create_client( - "/api/autoware/set/emergency"); - - pub_velocity_limit_ = raw_node_->create_publisher( - "/planning/scenario_planning/max_velocity_default", rclcpp::QoS{1}.transient_local()); -} - -void StatePanel::onOperationMode(const OperationModeState::ConstSharedPtr msg) -{ - auto changeButtonState = []( - QPushButton * button, const bool is_desired_mode_available, - const uint8_t current_mode = OperationModeState::UNKNOWN, - const uint8_t desired_mode = OperationModeState::STOP) { - if (is_desired_mode_available && current_mode != desired_mode) { - activateButton(button); - } else { - deactivateButton(button); - } - }; - - QString text = ""; - QString style_sheet = ""; - // Operation Mode - switch (msg->mode) { - case OperationModeState::AUTONOMOUS: - text = "AUTONOMOUS"; - style_sheet = "background-color: #00FF00;"; // green - break; - - case OperationModeState::LOCAL: - text = "LOCAL"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case OperationModeState::REMOTE: - text = "REMOTE"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case OperationModeState::STOP: - text = "STOP"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - if (msg->is_in_transition) { - text += "\n(TRANSITION)"; - } - - updateLabel(operation_mode_label_ptr_, text, style_sheet); - - // Control Mode - if (msg->is_autoware_control_enabled) { - updateLabel(control_mode_label_ptr_, "Enable", "background-color: #00FF00;"); // green - } else { - updateLabel(control_mode_label_ptr_, "Disable", "background-color: #FFFF00;"); // yellow - } - - // Button - changeButtonState( - auto_button_ptr_, msg->is_autonomous_mode_available, msg->mode, OperationModeState::AUTONOMOUS); - changeButtonState( - stop_button_ptr_, msg->is_stop_mode_available, msg->mode, OperationModeState::STOP); - changeButtonState( - local_button_ptr_, msg->is_local_mode_available, msg->mode, OperationModeState::LOCAL); - changeButtonState( - remote_button_ptr_, msg->is_remote_mode_available, msg->mode, OperationModeState::REMOTE); - - changeButtonState(enable_button_ptr_, !msg->is_autoware_control_enabled); - changeButtonState(disable_button_ptr_, msg->is_autoware_control_enabled); -} - -void StatePanel::onRoute(const RouteState::ConstSharedPtr msg) -{ - QString text = ""; - QString style_sheet = ""; - switch (msg->state) { - case RouteState::UNSET: - text = "UNSET"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case RouteState::SET: - text = "SET"; - style_sheet = "background-color: #00FF00;"; // green - break; - - case RouteState::ARRIVED: - text = "ARRIVED"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - case RouteState::CHANGING: - text = "CHANGING"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - updateLabel(routing_label_ptr_, text, style_sheet); - - if (msg->state == RouteState::SET) { - activateButton(clear_route_button_ptr_); - } else { - deactivateButton(clear_route_button_ptr_); - } -} - -void StatePanel::onLocalization(const LocalizationInitializationState::ConstSharedPtr msg) -{ - QString text = ""; - QString style_sheet = ""; - switch (msg->state) { - case LocalizationInitializationState::UNINITIALIZED: - text = "UNINITIALIZED"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case LocalizationInitializationState::INITIALIZING: - text = "INITIALIZING"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - case LocalizationInitializationState::INITIALIZED: - text = "INITIALIZED"; - style_sheet = "background-color: #00FF00;"; // green - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - updateLabel(localization_label_ptr_, text, style_sheet); -} - -void StatePanel::onMotion(const MotionState::ConstSharedPtr msg) -{ - QString text = ""; - QString style_sheet = ""; - switch (msg->state) { - case MotionState::STARTING: - text = "STARTING"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case MotionState::STOPPED: - text = "STOPPED"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - case MotionState::MOVING: - text = "MOVING"; - style_sheet = "background-color: #00FF00;"; // green - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - updateLabel(motion_label_ptr_, text, style_sheet); - - if (msg->state == MotionState::STARTING) { - activateButton(accept_start_button_ptr_); - } else { - deactivateButton(accept_start_button_ptr_); - } -} - -void StatePanel::onMRMState(const MRMState::ConstSharedPtr msg) -{ - // state - { - QString text = ""; - QString style_sheet = ""; - switch (msg->state) { - case MRMState::NONE: - text = "NONE"; - style_sheet = "background-color: #00FF00;"; // green - break; - - case MRMState::MRM_OPERATING: - text = "MRM_OPERATING"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - case MRMState::MRM_SUCCEEDED: - text = "MRM_SUCCEEDED"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case MRMState::MRM_FAILED: - text = "MRM_FAILED"; - style_sheet = "background-color: #FF0000;"; // red - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - updateLabel(mrm_state_label_ptr_, text, style_sheet); - } - - // behavior - { - QString text = ""; - QString style_sheet = ""; - switch (msg->behavior) { - case MRMState::NONE: - text = "NONE"; - style_sheet = "background-color: #00FF00;"; // green - break; - - case MRMState::PULL_OVER: - text = "PULL_OVER"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case MRMState::COMFORTABLE_STOP: - text = "COMFORTABLE_STOP"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; - - case MRMState::EMERGENCY_STOP: - text = "EMERGENCY_STOP"; - style_sheet = "background-color: #FFA500;"; // orange - break; - - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } - - updateLabel(mrm_behavior_label_ptr_, text, style_sheet); - } -} - -void StatePanel::onShift(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) -{ - switch (msg->report) { - case autoware_vehicle_msgs::msg::GearReport::PARK: - gear_label_ptr_->setText("PARKING"); - break; - case autoware_vehicle_msgs::msg::GearReport::REVERSE: - gear_label_ptr_->setText("REVERSE"); - break; - case autoware_vehicle_msgs::msg::GearReport::DRIVE: - gear_label_ptr_->setText("DRIVE"); - break; - case autoware_vehicle_msgs::msg::GearReport::NEUTRAL: - gear_label_ptr_->setText("NEUTRAL"); - break; - case autoware_vehicle_msgs::msg::GearReport::LOW: - gear_label_ptr_->setText("LOW"); - break; - } -} - -void StatePanel::onEmergencyStatus( - const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg) -{ - current_emergency_ = msg->emergency; - if (msg->emergency) { - emergency_button_ptr_->setText(QString::fromStdString("Clear Emergency")); - emergency_button_ptr_->setStyleSheet("background-color: #FF0000;"); - } else { - emergency_button_ptr_->setText(QString::fromStdString("Set Emergency")); - emergency_button_ptr_->setStyleSheet("background-color: #00FF00;"); - } -} - -void StatePanel::onClickVelocityLimit() -{ - auto velocity_limit = std::make_shared(); - velocity_limit->stamp = raw_node_->now(); - velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6; - pub_velocity_limit_->publish(*velocity_limit); -} - -void StatePanel::onClickAutonomous() -{ - callServiceWithoutResponse(client_change_to_autonomous_); -} -void StatePanel::onClickStop() -{ - callServiceWithoutResponse(client_change_to_stop_); -} -void StatePanel::onClickLocal() -{ - callServiceWithoutResponse(client_change_to_local_); -} -void StatePanel::onClickRemote() -{ - callServiceWithoutResponse(client_change_to_remote_); -} -void StatePanel::onClickAutowareControl() -{ - callServiceWithoutResponse(client_enable_autoware_control_); -} -void StatePanel::onClickDirectControl() -{ - callServiceWithoutResponse(client_enable_direct_control_); -} - -void StatePanel::onClickClearRoute() -{ - callServiceWithoutResponse(client_clear_route_); -} - -void StatePanel::onClickInitByGnss() -{ - callServiceWithoutResponse(client_init_by_gnss_); -} - -void StatePanel::onClickAcceptStart() -{ - callServiceWithoutResponse(client_accept_start_); -} - -void StatePanel::onClickEmergencyButton() -{ - using tier4_external_api_msgs::msg::ResponseStatus; - using tier4_external_api_msgs::srv::SetEmergency; - - auto request = std::make_shared(); - request->emergency = !current_emergency_; - - RCLCPP_INFO(raw_node_->get_logger(), request->emergency ? "Set Emergency" : "Clear Emergency"); - - client_emergency_stop_->async_send_request( - request, [this](rclcpp::Client::SharedFuture result) { - const auto & response = result.get(); - if (response->status.code == ResponseStatus::SUCCESS) { - RCLCPP_INFO(raw_node_->get_logger(), "service succeeded"); - } else { - RCLCPP_WARN( - raw_node_->get_logger(), "service failed: %s", response->status.message.c_str()); - } - }); -} - -} // namespace tier4_adapi_rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(tier4_adapi_rviz_plugins::StatePanel, rviz_common::Panel) diff --git a/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp deleted file mode 100644 index b30494772061e..0000000000000 --- a/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp +++ /dev/null @@ -1,206 +0,0 @@ -// -// Copyright 2020 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef STATE_PANEL_HPP_ -#define STATE_PANEL_HPP_ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -namespace tier4_adapi_rviz_plugins -{ - -class StatePanel : public rviz_common::Panel -{ - using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; - using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; - using RouteState = autoware_adapi_v1_msgs::msg::RouteState; - using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute; - using LocalizationInitializationState = - autoware_adapi_v1_msgs::msg::LocalizationInitializationState; - using InitializeLocalization = autoware_adapi_v1_msgs::srv::InitializeLocalization; - using MotionState = autoware_adapi_v1_msgs::msg::MotionState; - using AcceptStart = autoware_adapi_v1_msgs::srv::AcceptStart; - using MRMState = autoware_adapi_v1_msgs::msg::MrmState; - - Q_OBJECT - -public: - explicit StatePanel(QWidget * parent = nullptr); - void onInitialize() override; - -public Q_SLOTS: // NOLINT for Qt - void onClickAutonomous(); - void onClickStop(); - void onClickLocal(); - void onClickRemote(); - void onClickAutowareControl(); - void onClickDirectControl(); - void onClickClearRoute(); - void onClickInitByGnss(); - void onClickAcceptStart(); - void onClickVelocityLimit(); - void onClickEmergencyButton(); - -protected: - // Layout - QGroupBox * makeOperationModeGroup(); - QGroupBox * makeControlModeGroup(); - QGroupBox * makeRoutingGroup(); - QGroupBox * makeLocalizationGroup(); - QGroupBox * makeMotionGroup(); - QGroupBox * makeFailSafeGroup(); - - void onShift(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg); - void onEmergencyStatus(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg); - - rclcpp::Node::SharedPtr raw_node_; - rclcpp::Subscription::SharedPtr sub_gear_; - rclcpp::Client::SharedPtr client_emergency_stop_; - rclcpp::Subscription::SharedPtr sub_emergency_; - rclcpp::Publisher::SharedPtr pub_velocity_limit_; - - // Operation Mode - QLabel * operation_mode_label_ptr_{nullptr}; - QPushButton * stop_button_ptr_{nullptr}; - QPushButton * auto_button_ptr_{nullptr}; - QPushButton * local_button_ptr_{nullptr}; - QPushButton * remote_button_ptr_{nullptr}; - - rclcpp::Subscription::SharedPtr sub_operation_mode_; - rclcpp::Client::SharedPtr client_change_to_autonomous_; - rclcpp::Client::SharedPtr client_change_to_stop_; - rclcpp::Client::SharedPtr client_change_to_local_; - rclcpp::Client::SharedPtr client_change_to_remote_; - - // Control Mode - QLabel * control_mode_label_ptr_{nullptr}; - QPushButton * enable_button_ptr_{nullptr}; - QPushButton * disable_button_ptr_{nullptr}; - rclcpp::Client::SharedPtr client_enable_autoware_control_; - rclcpp::Client::SharedPtr client_enable_direct_control_; - - // Functions - void onOperationMode(const OperationModeState::ConstSharedPtr msg); - void changeOperationMode(const rclcpp::Client::SharedPtr client); - - // Routing - QLabel * routing_label_ptr_{nullptr}; - QPushButton * clear_route_button_ptr_{nullptr}; - - rclcpp::Subscription::SharedPtr sub_route_; - rclcpp::Client::SharedPtr client_clear_route_; - - void onRoute(const RouteState::ConstSharedPtr msg); - - // Localization - QLabel * localization_label_ptr_{nullptr}; - QPushButton * init_by_gnss_button_ptr_{nullptr}; - - rclcpp::Subscription::SharedPtr sub_localization_; - rclcpp::Client::SharedPtr client_init_by_gnss_; - - void onLocalization(const LocalizationInitializationState::ConstSharedPtr msg); - - // Motion - QLabel * motion_label_ptr_{nullptr}; - QPushButton * accept_start_button_ptr_{nullptr}; - - rclcpp::Subscription::SharedPtr sub_motion_; - rclcpp::Client::SharedPtr client_accept_start_; - - void onMotion(const MotionState::ConstSharedPtr msg); - - // FailSafe - QLabel * mrm_state_label_ptr_{nullptr}; - QLabel * mrm_behavior_label_ptr_{nullptr}; - - rclcpp::Subscription::SharedPtr sub_mrm_; - - void onMRMState(const MRMState::ConstSharedPtr msg); - - // Others - QPushButton * velocity_limit_button_ptr_; - QLabel * gear_label_ptr_; - - QSpinBox * pub_velocity_limit_input_; - QPushButton * emergency_button_ptr_; - - bool current_emergency_{false}; - - template - void callServiceWithoutResponse(const typename rclcpp::Client::SharedPtr client) - { - auto req = std::make_shared(); - - RCLCPP_DEBUG(raw_node_->get_logger(), "client request"); - - if (!client->service_is_ready()) { - RCLCPP_DEBUG(raw_node_->get_logger(), "client is unavailable"); - return; - } - - client->async_send_request(req, [this](typename rclcpp::Client::SharedFuture result) { - RCLCPP_DEBUG( - raw_node_->get_logger(), "Status: %d, %s", result.get()->status.code, - result.get()->status.message.c_str()); - }); - } - - static void updateLabel(QLabel * label, QString text, QString style_sheet) - { - label->setText(text); - label->setStyleSheet(style_sheet); - } - - static void activateButton(QAbstractButton * button) - { - button->setChecked(false); - button->setEnabled(true); - } - - static void deactivateButton(QAbstractButton * button) - { - button->setChecked(true); - button->setEnabled(false); - } -}; - -} // namespace tier4_adapi_rviz_plugins - -#endif // STATE_PANEL_HPP_ diff --git a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst index 99d51e3064524..3dc5b3cf668f3 100644 --- a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package tier4_camera_view_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(tier4_camera_view_rviz_plugin): fix bugprone-parent-virtual-call (`#9815 `_) + * fix:bugprone-error + * fix:fmt + --------- +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml index b25aac8a74570..0a1d30c509aab 100644 --- a/visualization/tier4_camera_view_rviz_plugin/package.xml +++ b/visualization/tier4_camera_view_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_camera_view_rviz_plugin - 0.40.0 + 0.41.0 The autoware camera view rviz plugin package Yuxuan Liu Makoto Yabuta diff --git a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst index 155d36c369d77..76211d6be48f9 100644 --- a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_datetime_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml index 80c19ec0957fd..5ade60b0d3f3c 100644 --- a/visualization/tier4_datetime_rviz_plugin/package.xml +++ b/visualization/tier4_datetime_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_datetime_rviz_plugin - 0.40.0 + 0.41.0 The tier4_datetime_rviz_plugin package Takagi, Isamu Apache License 2.0 diff --git a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst index 4e9985286862b..7d7ab591b1544 100644 --- a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_localization_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml index e3f200aeb7111..2c3fef66f43f3 100644 --- a/visualization/tier4_localization_rviz_plugin/package.xml +++ b/visualization/tier4_localization_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_localization_rviz_plugin - 0.40.0 + 0.41.0 The tier4_localization_rviz_plugin package Takagi, Isamu Takamasa Horibe diff --git a/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..e62ea3267b362 --- /dev/null +++ b/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,32 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_planning_factor_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) + * feat(rviz): add new plugin to visualize planning factor + * feat(rviz): show safety factors + * chore: add maintainer + * feat: show detail + --------- +* Contributors: Fumiya Watanabe, Satoshi OTA + +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) + * feat(rviz): add new plugin to visualize planning factor + * feat(rviz): show safety factors + * chore: add maintainer + * feat: show detail + --------- +* Contributors: Fumiya Watanabe, Satoshi OTA + +0.40.0 (2025-01-06) +------------------- + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/visualization/tier4_planning_factor_rviz_plugin/package.xml b/visualization/tier4_planning_factor_rviz_plugin/package.xml index f1d2ce7df6ef4..6e703458782c4 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/package.xml +++ b/visualization/tier4_planning_factor_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_factor_rviz_plugin - 0.40.0 + 0.41.0 The tier4_planning_factor_rviz_plugin package Satoshi Ota Mamoru Sobue diff --git a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst index 8faac0b6ac8e7..5d6e8fa8a819b 100644 --- a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_planning_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml index d615878f91354..352e3bfbf5840 100644 --- a/visualization/tier4_planning_rviz_plugin/package.xml +++ b/visualization/tier4_planning_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_rviz_plugin - 0.40.0 + 0.41.0 The tier4_planning_rviz_plugin package Yukihiro Saito Takayuki Murooka diff --git a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst index 243d3c28733d7..bc1cc3050c97b 100644 --- a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package tier4_state_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- +* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base +* fix(tier4_state_rviz_plugin): fix bugprone-integer-division (`#9628 `_) + fix: bugprone-integer-division +* Contributors: Fumiya Watanabe, kobayu858 + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml index f5f5fa8b9c0c1..7b1f08ceef6eb 100644 --- a/visualization/tier4_state_rviz_plugin/package.xml +++ b/visualization/tier4_state_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_state_rviz_plugin - 0.40.0 + 0.41.0 The autoware state rviz plugin package Hiroki OTA Takagi, Isamu diff --git a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst index a895b7135e0c8..91792789b5d42 100644 --- a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_system_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml index 5b768aa077120..9493e5b1c45a3 100644 --- a/visualization/tier4_system_rviz_plugin/package.xml +++ b/visualization/tier4_system_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_system_rviz_plugin - 0.40.0 + 0.41.0 The tier4_vehicle_rviz_plugin package Koji Minoda Apache License 2.0 diff --git a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index 72e4ec068910b..cb9a5e8225c04 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_traffic_light_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml index b6645782290c1..3741d1ea0c46b 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/package.xml +++ b/visualization/tier4_traffic_light_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_traffic_light_rviz_plugin - 0.40.0 + 0.41.0 The autoware state rviz plugin package Satoshi OTA Apache License 2.0 diff --git a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst index 45d81a4646466..9deceeff4d0b6 100644 --- a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tier4_vehicle_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.41.0 (2025-01-29) +------------------- + 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 diff --git a/visualization/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml index 4124ed2d514a3..91c34ec8ca5b4 100644 --- a/visualization/tier4_vehicle_rviz_plugin/package.xml +++ b/visualization/tier4_vehicle_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_rviz_plugin - 0.40.0 + 0.41.0 The tier4_vehicle_rviz_plugin package Yukihiro Saito Apache License 2.0