Merge branch 'main' into fix/tlr/rename_param

.github/workflows/build-and-test-differential.yaml

@@ -71,7 +71,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v5
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false

.github/workflows/build-and-test.yaml

@@ -59,7 +59,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v5
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false

.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:

.pre-commit-config-optional.yaml

@@ -2,9 +2,16 @@
 # https://github.com/autowarefoundation/sync-file-templates
 # To make changes, update the source repository and follow the guidelines in its README.
 
+# https://pre-commit.ci/#configuration
+ci:
+  autofix_commit_msg: "style(pre-commit-optional): autofix"
+  # we already have our own daily update mechanism, we set this to quarterly
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit-optional): quarterly autoupdate"
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.13.6
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]

.pre-commit-config.yaml

@@ -74,7 +74,7 @@ repos:
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.4
+    rev: v19.1.5
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]

autoware_launch/CHANGELOG.rst

@@ -2,6 +2,123 @@
 Changelog for package autoware_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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 (`#1308 <https://github.com/autowarefoundation/autoware_launch/issues/1308>`_)
+* feat: apply autoware prefix for state monitor (`#1313 <https://github.com/autowarefoundation/autoware_launch/issues/1313>`_)
+  Co-authored-by: Takagi, Isamu <[email protected]>
+  Co-authored-by: Takagi, Isamu <[email protected]>
+* revert: revert "feat: apply autoware prefix for state monitor" (`#1312 <https://github.com/autowarefoundation/autoware_launch/issues/1312>`_)
+  Revert "feat: apply autoware prefix for state monitor (`#1311 <https://github.com/autowarefoundation/autoware_launch/issues/1311>`_)"
+* feat: apply autoware prefix for state monitor (`#1311 <https://github.com/autowarefoundation/autoware_launch/issues/1311>`_)
+  Co-authored-by: Ryohsuke Mitsudome <[email protected]>
+* feat: apply autoware prefix for adapi helpers (`#1309 <https://github.com/autowarefoundation/autoware_launch/issues/1309>`_)
+* feat(autoware_detected_object_validation): add height filter in lanelet filtering (`#1307 <https://github.com/autowarefoundation/autoware_launch/issues/1307>`_)
+  * chore(package.xml): bump version to 0.38.0 (`#1226 <https://github.com/autowarefoundation/autoware_launch/issues/1226>`_)
+  * add changelog
+  * unify package.xml version to 0.37.0
+  * 0.38.0
+  * fix organization
+  ---------
+  * youtalk username
+  * update changelog
+  * 0.39.0
+  * Update autoware_launch/CHANGELOG.rst
+  Co-authored-by: Ryohsuke Mitsudome <[email protected]>
+  * change username
+  * chore(package.xml): bump version to 0.39.0 (`#1248 <https://github.com/autowarefoundation/autoware_launch/issues/1248>`_)
+  Co-authored-by: Yuki TAKAGI <[email protected]>
+  Co-authored-by: Go Sakayori <[email protected]>
+  Co-authored-by: Kosuke Takeuchi <[email protected]>
+  Co-authored-by: Taekjin LEE <[email protected]>
+  Co-authored-by: SakodaShintaro <[email protected]>
+  Co-authored-by: Zulfaqar Azmi <[email protected]>
+  Co-authored-by: Satoshi OTA <[email protected]>
+  Co-authored-by: iwatake <[email protected]>
+  Co-authored-by: ito-san <[email protected]>
+  Co-authored-by: Takayuki Murooka <[email protected]>
+  Co-authored-by: danielsanchezaran <[email protected]>
+  Co-authored-by: Maxime CLEMENT <[email protected]>
+  Co-authored-by: Ryohsuke Mitsudome <[email protected]>
+  Co-authored-by: xtk8532704 <[email protected]>
+  * feat: add height filter option for lanelet filter
+  * chore: add description in parameter
+  ---------
+  Co-authored-by: Yutaka Kondo <[email protected]>
+  Co-authored-by: Ryohsuke Mitsudome <[email protected]>
+  Co-authored-by: Yuki TAKAGI <[email protected]>
+  Co-authored-by: Go Sakayori <[email protected]>
+  Co-authored-by: Kosuke Takeuchi <[email protected]>
+  Co-authored-by: Taekjin LEE <[email protected]>
+  Co-authored-by: SakodaShintaro <[email protected]>
+  Co-authored-by: Zulfaqar Azmi <[email protected]>
+  Co-authored-by: Satoshi OTA <[email protected]>
+  Co-authored-by: iwatake <[email protected]>
+  Co-authored-by: ito-san <[email protected]>
+  Co-authored-by: Takayuki Murooka <[email protected]>
+  Co-authored-by: danielsanchezaran <[email protected]>
+  Co-authored-by: Maxime CLEMENT <[email protected]>
+  Co-authored-by: xtk8532704 <[email protected]>
+  Co-authored-by: Junya Sasaki <[email protected]>
+  Co-authored-by: Ryohsuke Mitsudome <[email protected]>
+* chore(system_monitor): add parameters for UDP buf errors (`#1303 <https://github.com/autowarefoundation/autoware_launch/issues/1303>`_)
+* refactor(lane_change): add missing safety check parameter  (`#1300 <https://github.com/autowarefoundation/autoware_launch/issues/1300>`_)
+  * refactor(lane_change): parameterize incoming object angle for filter
+  * add missing param
+  ---------
+* fix: remove unnecesary parameters (`#1301 <https://github.com/autowarefoundation/autoware_launch/issues/1301>`_)
+* feat(lane_change): add time limit param (`#1298 <https://github.com/autowarefoundation/autoware_launch/issues/1298>`_)
+  add time limit param
+* chore(autoware_test_utils): add test_utils rviz config (`#1299 <https://github.com/autowarefoundation/autoware_launch/issues/1299>`_)
+* chore: fix typo in drivable_are_expansion.param.yaml (`#1297 <https://github.com/autowarefoundation/autoware_launch/issues/1297>`_)
+  fix typo in drivable_are_expansion.param.yaml
+* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#1290 <https://github.com/autowarefoundation/autoware_launch/issues/1290>`_)
+  * add parameter for enabling frenet
+  * parameterized th_yaw_diff
+  * prepare segment curvature threshold
+  * add curvature smoothing
+  ---------
+* feat(lane_change): add lane change parameter (`#1263 <https://github.com/autowarefoundation/autoware_launch/issues/1263>`_)
+  * add flag to enable/disable terminal path feature
+  * add parameter to cofigure stop point placement
+  * add flag to disable feature near goal
+  * set default flag value to false
+  ---------
+* feat: remove enable_rtc from detection_area (`#1292 <https://github.com/autowarefoundation/autoware_launch/issues/1292>`_)
+* feat(lane_change): add feature flag param (`#1291 <https://github.com/autowarefoundation/autoware_launch/issues/1291>`_)
+  add parameter to enable/disable keeping distance from front stopped object
+* feat(autoware_traffic_light_arbiter): add current time validation (`#1289 <https://github.com/autowarefoundation/autoware_launch/issues/1289>`_)
+  * add config
+  * change ros parameter name
+  ---------
+* feat(image_projection_based_fusion): add cache options (`#1275 <https://github.com/autowarefoundation/autoware_launch/issues/1275>`_)
+  * add timekeeper option
+  * add cache option and mod unrectified_image option
+  * fix parameter names
+  ---------
+* feat(pid_longitudinal_controller): change slope compensation mode to trajectory_goal_adaptive (`#1288 <https://github.com/autowarefoundation/autoware_launch/issues/1288>`_)
+* feat: remove admissible\_{position/yaw}_error from trajectory_follower (`#1284 <https://github.com/autowarefoundation/autoware_launch/issues/1284>`_)
+* feat: add velocity control virtual wall (`#1285 <https://github.com/autowarefoundation/autoware_launch/issues/1285>`_)
+* feat: remove emergency_state_traj\_{trans/rot}_dev from trajectory_follower (`#1283 <https://github.com/autowarefoundation/autoware_launch/issues/1283>`_)
+  * feat: remove emergency_state_traj\_{trans/rot}_dev from trajectory_follower
+  * update codeowner
+  ---------
+* feat(detected_object_validation): add validation for maximum distance in obstacle_pointcloud_based_validator (`#1277 <https://github.com/autowarefoundation/autoware_launch/issues/1277>`_)
+  feat: add validation for maximum distance in obstacle_pointcloud_based_validator
+* chore: sync files (`#1280 <https://github.com/autowarefoundation/autoware_launch/issues/1280>`_)
+  * chore: sync files
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: github-actions <[email protected]>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(pid_longitudinal_controller): change default slope compesation source to trajectory_adaptive (`#1276 <https://github.com/autowarefoundation/autoware_launch/issues/1276>`_)
+* feat(image_projection_based_fusion): add timekeeper option (`#1274 <https://github.com/autowarefoundation/autoware_launch/issues/1274>`_)
+  add timekeeper option
+* refactor(autoware_multi_object_tracker): extract tracker parameters (`#1273 <https://github.com/autowarefoundation/autoware_launch/issues/1273>`_)
+* feat(MRM_handler, MRM_emergency_stop_operator): revert mrm_stop parameter, enable mrm_comfortable_stop (`#1265 <https://github.com/autowarefoundation/autoware_launch/issues/1265>`_)
+* Contributors: Autumn60, Mamoru Sobue, Masaki Baba, Masato Saeki, Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu, Takayuki Murooka, Yoshi Ri, Yuki TAKAGI, Zulfaqar Azmi, awf-autoware-bot[bot], github-actions, iwatake, jakor97, mkquda
+
 0.40.0 (2024-12-12)
 -------------------
 * Merge remote-tracking branch 'origin/main' into release-0.40.0

autoware_launch/config/planning/preset/default_preset.yaml

@@ -93,6 +93,15 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_slow_down_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_cruise_module
+      default: "true"
   - arg:
       name: launch_dynamic_obstacle_stop_module
       default: "true"
@@ -105,7 +114,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_cruise_planner
+      default: none
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/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:
@@ -39,7 +39,6 @@
 
       # object recognition
       object_recognition:
-        use_object_recognition: true
         collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented.
         collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
@@ -52,6 +51,7 @@
       # 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
@@ -130,6 +130,10 @@
             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

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml

@@ -5,5 +5,6 @@
       tl_state_timeout: 1.0
       stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
+      yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision.
       enable_pass_judge: true
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml

@@ -1,3 +1,14 @@
 /**:
   ros__parameters:
     smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
+
+    trajectory_polygon_collision_check:
+      decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
+      goal_extended_trajectory_length: 6.0
+
+      # consider the current ego pose (it is not the nearest pose on the reference trajectory)
+      # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
+      # The both errors decrease with constant rates against the time.
+      consider_current_pose:
+        enable_to_consider_current_pose: true
+        time_to_convergence: 1.5 #[s]