feat(perception): add support of ML-based prediction with MTR

perception/autoware_mtr/.gitignore

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+devel/
+logs/
+build/
+bin/
+msg_gen/
+srv_gen/
+data/*onnx
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

perception/autoware_mtr/.markdownlint.yaml

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+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
+default: true
+MD013: false
+MD024:
+  siblings_only: true
+MD029:
+  style: ordered
+MD033: false
+MD041: false
+MD045: false
+MD046: false
+MD049: false

perception/autoware_mtr/.pre-commit-config-optional.yaml

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+repos:
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.12.2
+    hooks:
+      - id: markdown-link-check
+        args: [--quiet, --config=.markdown-link-check.json]

perception/autoware_mtr/.pre-commit-config.yaml

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+ci:
+  autofix_commit_msg: "style(pre-commit): autofix"
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+        args: [--unsafe]
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/igorshubovych/markdownlint-cli
+    rev: v0.41.0
+    hooks:
+      - id: markdownlint
+        args: [-c, .markdownlint.yaml, --fix]
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v4.0.0-alpha.8
+    hooks:
+      - id: prettier
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.10.0.1
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/scop/pre-commit-shfmt
+    rev: v3.9.0-1
+    hooks:
+      - id: shfmt
+        args: [-w, -s, -i=4]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: [--line-length=100]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+      - id: clang-format
+        types_or: [c++, c, cuda]
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+      - id: cpplint
+        args: [--quiet]
+        exclude: .cu
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.29.2
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
+  - repo: local
+    hooks:
+      - id: prettier-svg
+        name: prettier svg
+        description: Apply Prettier with plugin-xml to svg.
+        entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
+        language: node
+        files: .svg$
+        additional_dependencies: [[email protected], "@prettier/[email protected]"]

perception/autoware_mtr/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(autoware_mtr)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(CUDA REQUIRED)
+if (CUDA_FOUND)
+  include_directories(${CUDA_INCLUDE_DIRS})
+  find_library(CUBLAS_LIBRARIES cublas HINTS ${CUDA_TOOLKIT_ROOT_DIR}/lib64
+                                            ${CUDA_TOOLKIT_ROOT_DIR}/lib)
+  find_library(
+    CUDNN_LIBRARIES
+    NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib
+          ${__cudnn_lib_win_name}
+    PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR}
+          ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX}
+    PATH_SUFFIXES lib lib64 bin
+    DOC "CUDNN library.")
+else()
+  message(FATAL_ERROR "Can not find CUDA")
+endif()
+
+list(APPEND TRT_PLUGINS "nvinfer")
+list(APPEND TRT_PLUGINS "nvonnxparser")
+list(APPEND TRT_PLUGINS "nvparsers")
+foreach(libName ${TRT_PLUGINS})
+  find_library(${libName}_lib NAMES ${libName} "/usr" PATH_SUFFIXES lib)
+  list(APPEND TRT_PLUGINS ${${libName}_lib})
+endforeach()
+
+# TRT plugins and cuda kernels
+cuda_add_library(${PROJECT_NAME}_cuda_lib SHARED
+  lib/src/attention/trt_attn_value_computation_kernel.cu
+  lib/src/attention/trt_attn_value_computation.cpp
+  lib/src/attention/trt_attn_weight_computation_kernel.cu
+  lib/src/attention/trt_attn_weight_computation.cpp
+  lib/src/knn/trt_knn_batch_kernel.cu
+  lib/src/knn/trt_knn_batch.cpp
+  lib/src/knn/trt_knn_batch_mlogk_kernel.cu
+  lib/src/knn/trt_knn_batch_mlogk.cpp
+  lib/src/preprocess/agent_preprocess_kernel.cu
+  lib/src/preprocess/polyline_preprocess_kernel.cu
+  lib/src/postprocess/postprocess_kernel.cu
+)
+target_include_directories(${PROJECT_NAME}_cuda_lib PUBLIC
+  lib/include
+)
+
+ament_auto_add_library(${PROJECT_NAME}_lib SHARED
+  src/builder.cpp
+  src/trt_mtr.cpp
+  src/conversions/lanelet.cpp
+  src/intention_point.cpp
+  src/conversions/history.cpp
+)
+target_link_libraries(${PROJECT_NAME}_lib
+  ${TRT_PLUGINS}
+  ${TRT_PLUGIN_LIBS}
+  ${CUDA_LIBRARIES}
+  ${CUBLAS_LIBRARIES}
+  ${CUDNN_LIBRARIES}
+  ${PROJECT_NAME}_cuda_lib
+)
+target_include_directories(${PROJECT_NAME}_lib PUBLIC
+  include
+  lib/include
+)
+
+target_compile_options(${PROJECT_NAME}_lib PRIVATE
+  -Wall -Wextra -Wpedantic -Werror -Wno-deprecated-declarations
+)
+
+# ROS 2 node
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/node.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}_lib
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "autoware::mtr::MTRNode"
+  EXECUTABLE ${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  ament_auto_add_gtest(test_fixed_queue test/test_fixed_queue.cpp)
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+  data
+)