sync upstream (autowarefoundation#206)

* update parameter (autowarefoundation#169)

* Port pure pursuit (autowarefoundation#166)

* Fix control.launch.py

* Apply pre-commit

* Fix control.launch.py

* Change debug topic name in rviz setting

* fix typo in localization util.launch.py (autowarefoundation#168)

* Feature/add covarinace param (autowarefoundation#170)

* add covariance param

* add description

* remove unused param (autowarefoundation#172)

* Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (autowarefoundation#174)

* Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0

Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0.
- [Release notes](https://github.com/streetsidesoftware/cspell-action/releases)
- [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md)
- [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0)

---
updated-dependencies:
- dependency-name: streetsidesoftware/cspell-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>

* Update spell_check_pr.yml

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>

* fix: fix hdd_monitor param (autowarefoundation#173)

* add rosbridge launch (autowarefoundation#175)

* add rosbridge launch

* fix TODO document

add link to pull request

Co-authored-by: Kenji Miyake <[email protected]>

* fix double-byte character

Co-authored-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#177)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* ci: update CI settings (autowarefoundation#176)

* ci(pre-commit): update .pre-commit-config.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* ci: add sync-files.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* chore: remove old workflows

Signed-off-by: Kenji Miyake <[email protected]>

* ci(sync-upstream): update sync-upstream.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* ci(pre-commit): autofix

* style: fix for yamllint

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: minor update CI settings (autowarefoundation#179)

Signed-off-by: Kenji Miyake <[email protected]>

* [pre-commit.ci] pre-commit autoupdate (autowarefoundation#178)

updates:
- [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0)
- [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0)
- [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1)
- [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1)
- [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>

* chore: fix CI settings (autowarefoundation#182)

Signed-off-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#180)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync files (autowarefoundation#184)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* feat: add paricle param (autowarefoundation#181)

Signed-off-by: YamatoAndo <[email protected]>

* chore: sync files (autowarefoundation#185)

* chore: sync files

Signed-off-by: GitHub <[email protected]>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#186)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync system config (autowarefoundation#187)

Signed-off-by: wep21 <[email protected]>

* chore: sync files (autowarefoundation#189)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: wep21 <[email protected]>

* chore: replace system config in system launch (autowarefoundation#188)

Signed-off-by: wep21 <[email protected]>

* feat: adds additional configuration flags for behavior_path_planner (autowarefoundation#171)

* feat: adds additional configuration flags for behavior_path_planner

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* Change lateral_collision_margion to 1.0 to reflect changes.

The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* fix: slightly increase the safety buffer.

This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* feat(behavior_velocity): add path marker visualization (autowarefoundation#190)

Signed-off-by: tanaka3 <[email protected]>

* chore: sync files (autowarefoundation#193)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync files (autowarefoundation#194)

* chore: sync files

Signed-off-by: GitHub <[email protected]>

* chore: update workflow files name

Signed-off-by: h-ohta <[email protected]>

Co-authored-by: h-ohta <[email protected]>
Co-authored-by: h-ohta <[email protected]>

* chore: sync files (autowarefoundation#195)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: h-ohta <[email protected]>

* feat: lateral controller param (autowarefoundation#191)

* feat: define lat_controller_param_path

* feat: change for trajectory_follower params

* add args for lat_controller_param_path

* chore: fix wrong essential param to optional (autowarefoundation#197)

* fix wrong param line

* move pointcloud_container_name param to optional

* fix: typo extra `>` (autowarefoundation#199)

* Chore arrange perception rviz topics (autowarefoundation#196)

* feat(autoware_launch): add occupancy grid vizualization

Signed-off-by: tanaka3 <[email protected]>

* feat(autoware_launch): add object recognition namespace to rviz

Signed-off-by: tanaka3 <[email protected]>

* fix: delete unused in control_launch (autowarefoundation#200)

* fix: delete unused in control.launch.py

* fix: delete velocity_controller.param.yaml

* feat: add system_monitor parameters in sync-files (autowarefoundation#201)

* chore: sync files (autowarefoundation#202)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: h-ohta <[email protected]>

* chore: sync files (autowarefoundation#203)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: update settings of sync-files (autowarefoundation#204)

Signed-off-by: Kenji Miyake <[email protected]>

* feat(control_launch): remove unnecessary params (autowarefoundation#206)

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (autowarefoundation#208)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* feat(atutoware.rviz): disable selectable for pointcloud visualization (autowarefoundation#207)

Signed-off-by: YamatoAndo <[email protected]>

* chore: sync files (autowarefoundation#212)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* delete vehicle parameters in longitudinal_controller.param.yaml

* apply pre-commit

* remove unused file

* update sync-param-files.yaml

* disable local_external_control in system_error_montitor_psim

Co-authored-by: Tomoya Kimura <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: YamatoAndo <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: yabuta <[email protected]>
Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: wep21 <[email protected]>
Co-authored-by: Zulfaqar Azmi <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Co-authored-by: h-ohta <[email protected]>
Co-authored-by: h-ohta <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>

.clang-format

@@ -0,0 +1,43 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true

.github/dependabot.yaml

@@ -0,0 +1,7 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: daily
+    open-pull-requests-limit: 1

.github/sync-files.yaml

@@ -0,0 +1,21 @@
+- repository: autowarefoundation/autoware
+  files:
+    - source: .github/dependabot.yaml
+    - source: .github/workflows/pre-commit.yaml
+    - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/semantic-pull-request.yaml
+    - source: .github/workflows/spell-check-differential.yaml
+    - source: .clang-format
+    - source: .markdown-link-check.json
+    - source: .markdownlint.yaml
+    - source: .pre-commit-config-optional.yaml
+    - source: .prettierignore
+    - source: .prettierrc.yaml
+    - source: .yamllint.yaml
+    - source: CPPLINT.cfg
+    - source: setup.cfg
+
+- repository: autowarefoundation/autoware_common
+  files:
+    - source: .github/workflows/build-and-test.yaml
+    - source: .github/workflows/build-and-test-differential.yaml

.github/sync-param-files.yaml

@@ -0,0 +1,30 @@
+- repository: tier4/autoware.universe
+  files:
+    # system
+    ## ad_service_state_monitor
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.param.yaml
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+
+    ## system_error_monitor
+    - source: system/system_error_monitor/config/system_error_monitor.param.yaml
+      dest: system_launch/config/system_error_monitor.param.yaml
+    - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml
+
+    ## system_monitor
+    - source: system/system_monitor/config/cpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/cpu_monitor.param.yaml
+    - source: system/system_monitor/config/gpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/gpu_monitor.param.yaml
+    - source: system/system_monitor/config/hdd_monitor.param.yaml
+      dest: system_launch/config/system_monitor/hdd_monitor.param.yaml
+    - source: system/system_monitor/config/mem_monitor.param.yaml
+      dest: system_launch/config/system_monitor/mem_monitor.param.yaml
+    - source: system/system_monitor/config/net_monitor.param.yaml
+      dest: system_launch/config/system_monitor/net_monitor.param.yaml
+    - source: system/system_monitor/config/ntp_monitor.param.yaml
+      dest: system_launch/config/system_monitor/ntp_monitor.param.yaml
+    - source: system/system_monitor/config/process_monitor.param.yaml
+      dest: system_launch/config/system_monitor/process_monitor.param.yaml

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

@@ -0,0 +1,75 @@
+name: build-and-test-differential
+
+on:
+  pull_request:
+
+jobs:
+  build-and-test-differential:
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/[email protected]
+
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+
+  clang-tidy-differential:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    needs: build-and-test-differential
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+          build-depends-repos: build_depends.repos

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

@@ -0,0 +1,48 @@
+name: build-and-test
+
+on:
+  push:
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true