Release 0.40.0

Features

• [rtc_interface] Add requested field (#9202)
• [autoware_test_utils] Add traffic light msgs parser (#9177)
• [static_obstacle_avoidance] Operator request for ambiguous vehicle (#9205)
• [collision_detector] Use polling subscriber (#9213)
• [control_launch] Add collision detector in launch (#9214)
• [autoware_motion_utils] Add new trajectory class (#8693)
• [autoware_test_utils] Add general topic dumper (#9207)
• [autoware_trajectory] Move trajectory_container from autoware_motion_utils to a new package (#9253)
• [system_monitor] Support loopback network interface (#9067)
• [autoware_trajectory] Change interface of InterpolatedArray (#9264)
• [system_monitor] Add on/off config for network traffic monitor (#9069)
• [detection_area] Add retruction feature (#9255)
• [goal_planner] Sort candidate path only when num to avoid is different (#9271)
• [aeb] Set global param to override autoware state check (#9263)
• [autoware_test_utils] Use sample_vehicle/sample_sensor_kit (#9290)
• [tier4_metric_msgs] Apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
• [diagnostic_graph_aggregator] Implement diagnostic graph dump functionality (#9261)
• [goal_planner] Safety check with only parking path (#9293)
• [start_planner, lane_departure_checker] Speed up by updating polygons (#9309)
• [autoware_trajectory] Change default value of min_points (#9315)
• [behavior_velocity_planner] Replace first_stop_path_point_index (#9296)
• [run_out_module] Add tests to run out (#9222)
• [hazard_status_converter] Hazard status converter subscribe emergency holding (#9287)
• [mrm_handler] Mrm handler publish emergecy holding (#9285)
• [trajectory_follower] Publsih control horzion (#8977)
• [behavior_velocity_stop_line] Replace autoware_motion_utils to autoware_trajectory (#9299)
• [autoware_traffic_light_multi_camera_fusion] Resolve clang-tidy error (#9336)
• [bpp] Add velocity interface (#9344)
• [avoidance] Output velocity factor (#9345)
• [freespace_planner] Add processing time pub (#9332)
• [start_planner] Output velocity factor (#9347)
• [lane_change] Output velocity factor (#9349)
• [goal_planner] Output velocity factor (#9348)
• [mrm_comfortable_stop_operator] Add updateParam for mrm comfortable stop (#9353)
• [control_evaluator] Add processing time publisher (#9339)
• [goal_planner] Move goal_candidates from ThreadSafeData to GoalPlannerData (#9292)
• [tier4_control_launch] Use preset.yaml to control which modules to launch for control modules (#9351)
• [autoware_multi_object_tracker] New function to add odometry uncertainty (#9139)
• Suppress warning/error of the empty predicted trajectory by MPC (#9373)
• [mpc_lateral_controller] Suppress rclcpp_warning/error (#9382)
• [goal_planner] Remove unnecessary member from ThreadSafeData (#9393)
• [behavior_path_planner_common] Use azimuth for interpolatePose (#9362)
• [autoware_test_utils] Add parser for LaneletRoute, TrackedObject (#9317)
• [simple_planning_simulator] Add mechanical actuaion sim model (#9300)
• [pid_longitudinal_controller] Suppress rclcpp_warning/error (#9384)
• [build_depends.repos] Change autoware_adapi_msgs version (#9420)
• [behavior_velocity_planner] Update velocity factor initialization for run out module (#9352)
• [obstacle_cruise_planner] Outputs velocity factor when the ego follows front vehicle. (#9359)
• [goal_planner] Do not insert shift end pose on pull over lane to path (#9361)
• [pyplot] Add C++ pyplot (#9430)
• [autonomous_emergency_braking] Set a lateral deviation limit for AEB IMU path (#9410)
• [planning_evaluator] Add processing time pub (#9334)
• [mission_planner] Add processing time publisher (#9342)
• [autoware_ground_segmentation] Grid data structure revision for efficiency improvement (#9297)
• [processing_time_checker] Update processing time list (#9350)
• [lane_change] Parse predicted objects for lane change test (RT1-8251) (#9256)
• [autoware_processing_time_checker] Add a trigger to choice whether to output metrics to log folder (#9479)
• [lane_change] Improve delay lane change logic (#9480)
• [autoware_lidar_centerpoint] Added a check to notify if we are dropping pillars (#9488)
• [control_evaluator, tier4_control_launch] Add a trigger to choice whether to output metrics to log folder (#9478)
• [clang-tidy] Add .clang-tidy-ignore (#9498)
• [planning_evaluator] Add a trigger to choice whether to output metrics to log folder (#9476)
• [universe_utils] Add extra info to time keeper warning (#9484)
• [object_lanelet_filter] Add configurable margin for object lanel… (#9240)
• [velocity_smoother, external_velocity_limit_selector] Enable stronger acceleration when requested (#9502)
• [tier4_state_rviz_plugin] Check for abrupt deceleration (#9474)
• [behavior_velocity_planner] Remove stop_reason (#9452)
• Replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
• [build-and-test-differential] If unnecessary, completely ignore cuda build (#9520)
• [lane_changing] Improve computation of lane changing acceleration (#9545)
• [lane_change] Reduce prepare duration when blinker has been activated (#9185)
• [bytetrack] Remove unreachable code block from lapjv.h (#9563)
• [costmap_generator, scenario_selector] Improve freespace planning stability (#9579)
• [autoware_geography_utils] Move autoware_geography_utils to autoware.core (#9554)
• [goal_planner] Check opposite lane for lane departure_check (#9460)
• [diagnostic_graph_utils] Publish error graph instead of the terminal log (#9421)
• [behavior_path_planner] Add detail text to virutal wall (#9600)
• Remove max rois limit in the image projection based fusion (#9596)
• [duplicated_node_checker] Show the node name on the terminal (#9609)

Bug Fixes

• Fix ticket links in CHANGELOG.rst (#9588)
• Fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304)
• [mpc_lateral_controller] Correctly resample the MPC trajectory yaws (#9199)
• [bpp] Prevent accessing nullopt (#9204)
• [rtc_interface] Update requested field for every cooperateStatus state (#9211)
• [diagnostic_graph_utils] Reset graph when new one is received (#9208)
• [autoware_ndt_scan_matcher] Reduce initial_pose_estimation.particles_num from 200 to 100 on tests (#9218)
• [bvp] Remove expired module safely (#9212)
• [autoware_behavior_path_goal_planner_module] Fix cppcheck unreadVariable (#9192)
• [autoware_image_projection_based_fusion] Fix bugprone-misplaced-widening-cast (#9229)
• [autoware_euclidean_cluster] Fix bugprone-misplaced-widening-cast (#9227)
• [autoware_image_projection_based_fusion] Fix bugprone-misplaced-widening-cast (#9226)
• [autoware_compare_map_segmentation] Fix cppcheck constVariableReference (#9196)
• [autoware_behavior_velocity_no_stopping_area_module] Fix cppcheck knownConditionTrueFalse (#9189)
• [autoware_freespace_planning_algorithms] Fix bugprone-unused-raii (#9230)
• [autoware_probabilistic_occupancy_grid_map] Fix bugprone-incorrect-roundings (#9221)
• [crosswalk] Don't use vehicle stop checker to remove unnecessary callback (#9234)
• [autoware_image_projection_based_fusion] Make optional to consider lens distortion in the point projection (#9233)
• [autoware_ekf_localizer] Remove timer_tf_ (#9244)
• [autoware_rtc_interface] Fix dependency (#9237)
• [autonomous_emergency_braking] Solve issue with arc length (#9247)
• [autoware_lidar_apollo_instance_segmentation] Fix cppcheck suspiciousFloatingPointCast (#9195)
• [autoware_behavior_path_sampling_planner_module] Fix cppcheck unusedVariable (#9190)
• [lane_change] Enable cancel when ego in turn direction lane (#9124)
• [out_of_lane] Correct calculations of the stop pose (#9209)
• [autoware_pointcloud_preprocessor] Launch file load parameter from yaml (#8129)
• Missing dependency in common components (#9072)
• [autoware_pointcloud_preprocessor] Fix the wrong naming of crop box parameter file (#9258)
• [dummy_diag_publisher] Not use diagnostic_updater and param callback (#9257)
• [vehicle_cmd_gate] Fix processing time measurement (#9260)
• [bvp] Use polling subscriber (#9242)
• [bpp] Prevent accessing nullopt (#9269)
• [/autoware_freespace_planning_algorithms] Fix cppcheck unusedFunction (#9274)
• [autoware_behavior_path_start_planner_module] Fix cppcheck unreadVariable (#9277)
• [autoware_ndt_scan_matcher] Fix cppcheck unusedFunction (#9275)
• [autoware_pure_pursuit] Fix cppcheck unusedFunction (#9276)
• [lane_change] Correct computation of maximum lane changing length threshold (#9279)
• [autoware_default_adapi] Change subscribing steering factor topic name for obstacle avoidance and lane changes (#9273)
• [lane_change] Extending lane change path for multiple lane change (RT1-8427) (#9268)
• [autoware_utils] Address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995)
• [behavior_path_planner_common] Use boost intersects instead of overlaps (#9289)
• [autoware_mpc_lateral_controller] Fix bugprone-misplaced-widening-cast (#9224)
• [autoware_detected_object_validation] Fix clang-diagnostic-error (#9215)
• [autoware_detected_object_validation] Fix bugprone-incorrect-roundings (#9220)
• Fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304)
• [control] Missing dependency in control components (#9073)
• [collision_detector] Skip process when odometry is not published (#9308)
• [autoware_trajectory] Fix bug of autoware_trajectory (#9314)
• [costmap_generator] Use vehicle frame for lidar height thresholds (#9311)
• [tier4_dummy_object_rviz_plugin] Fix missing dependency (#9306)
• Fix ticket links in CHANGELOG.rst (#9588)
• [bvp] Remove callback group (#9294)
• [run_out] Output velocity factor (#9319)
• ...