From cb7edec71e83fcc36265ec2bca0556c3f2697f97 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-private-bot[bot]" <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com> Date: Mon, 21 Feb 2022 15:36:01 +0900 Subject: [PATCH] sync upstream (#206) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * update parameter (#169) * Port pure pursuit (#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 (#168) * Feature/add covarinace param (#170) * add covariance param * add description * remove unused param (#172) * Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#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](https://github.com/streetsidesoftware/cspell-action/compare/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] * Update spell_check_pr.yml Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: fix hdd_monitor param (#173) * add rosbridge launch (#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#177) Signed-off-by: GitHub Co-authored-by: kenji-miyake * ci: update CI settings (#176) * ci(pre-commit): update .pre-commit-config.yaml Signed-off-by: Kenji Miyake * ci: add sync-files.yaml Signed-off-by: Kenji Miyake * chore: remove old workflows Signed-off-by: Kenji Miyake * ci(sync-upstream): update sync-upstream.yaml Signed-off-by: Kenji Miyake * ci(pre-commit): autofix * style: fix for yamllint Signed-off-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: minor update CI settings (#179) Signed-off-by: Kenji Miyake * [pre-commit.ci] pre-commit autoupdate (#178) updates: - [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.0.1...v4.1.0) - [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.29.0...v0.30.0) - [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](https://github.com/pre-commit/mirrors-prettier/compare/v2.4.1...v2.5.1) - [github.com/pycqa/isort: 5.9.3 → 5.10.1](https://github.com/pycqa/isort/compare/5.9.3...5.10.1) - [github.com/psf/black: 21.9b0 → 22.1.0](https://github.com/psf/black/compare/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 <31987104+kenji-miyake@users.noreply.github.com> * chore: fix CI settings (#182) Signed-off-by: Kenji Miyake * chore: sync files (#180) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync files (#184) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: add paricle param (#181) Signed-off-by: YamatoAndo * chore: sync files (#185) * chore: sync files Signed-off-by: GitHub * Update sync-files.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#186) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync system config (#187) Signed-off-by: wep21 * chore: sync files (#189) Signed-off-by: GitHub Co-authored-by: wep21 * chore: replace system config in system launch (#188) Signed-off-by: wep21 * feat: adds additional configuration flags for behavior_path_planner (#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: https://github.com/autowarefoundation/autoware.universe/pull/285 https://github.com/autowarefoundation/autoware.universe/pull/287 Signed-off-by: Muhammad Zulfaqar Azmi * 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 * 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 * feat(behavior_velocity): add path marker visualization (#190) Signed-off-by: tanaka3 * chore: sync files (#193) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync files (#194) * chore: sync files Signed-off-by: GitHub * chore: update workflow files name Signed-off-by: h-ohta Co-authored-by: h-ohta Co-authored-by: h-ohta * chore: sync files (#195) Signed-off-by: GitHub Co-authored-by: h-ohta * feat: lateral controller param (#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 (#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (#199) * Chore arrange perception rviz topics (#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 * fix: delete unused in control_launch (#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (#201) * chore: sync files (#202) Signed-off-by: GitHub Co-authored-by: h-ohta * chore: sync files (#203) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: update settings of sync-files (#204) Signed-off-by: Kenji Miyake * feat(control_launch): remove unnecessary params (#206) Signed-off-by: Takayuki Murooka * chore: sync files (#208) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat(atutoware.rviz): disable selectable for pointcloud visualization (#207) Signed-off-by: YamatoAndo * chore: sync files (#212) Signed-off-by: GitHub Co-authored-by: kenji-miyake * 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 Co-authored-by: Fumiya Watanabe Co-authored-by: YamatoAndo Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: yabuta Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: wep21 Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: h-ohta Co-authored-by: h-ohta Co-authored-by: Yukihiro Saito Co-authored-by: Takayuki Murooka --- .clang-format | 43 +++ .github/dependabot.yaml | 7 + .github/dependabot.yml | 7 - .github/get_modified_package.sh | 76 ----- .github/labeler-develop.yml | 4 - .github/labeler-main.yml | 4 - .github/labeler-rc.yml | 4 - .github/labeler.yml | 2 - .github/sync-files.yaml | 21 ++ .github/sync-param-files.yaml | 30 ++ .../build-and-test-differential.yaml | 75 ++++ .github/workflows/build-and-test.yaml | 48 +++ .github/workflows/build_and_test.yml | 68 ---- .github/workflows/build_and_test_pr.yml | 69 ---- .github/workflows/labeler.yml | 29 -- .github/workflows/pre-commit-optional.yaml | 16 + .github/workflows/pre-commit.yaml | 13 +- .github/workflows/semantic-pull-request.yaml | 12 + .../workflows/spell-check-differential.yaml | 16 + .github/workflows/spell_check_all.yml | 39 --- .github/workflows/spell_check_pr.yml | 21 -- .github/workflows/sync-files.yaml | 22 ++ .github/workflows/sync-main-for-develop.yml | 66 ---- .github/workflows/sync-param-files.yaml | 28 ++ .github/workflows/sync-public-develop.yaml | 40 --- .github/workflows/sync-public.yaml | 40 --- .github/workflows/sync-rc.yml | 121 ------- .github/workflows/sync-upstream-develop.yml | 77 ----- .../sync-upstream-use-autoware-auto-msgs.yml | 74 ---- .github/workflows/sync-upstream.yaml | 28 ++ .github/workflows/sync-upstream.yml | 77 ----- .github/workflows/update-pre-commit.yml | 42 --- .markdown-link-check.json | 10 + .markdownlint.yaml | 1 + .pre-commit-config-optional.yaml | 6 + .pre-commit-config.yaml | 80 +++-- .prettierrc.yaml | 2 +- .yamllint.yaml | 23 ++ CPPLINT.cfg | 13 + .../launch/autoware_api.launch.xml | 8 + autoware_launch/launch/autoware.launch.xml | 4 +- autoware_launch/rviz/autoware.rviz | 321 ++++++++++-------- .../1/longitudinal_controller.param.yaml | 12 - .../10/longitudinal_controller.param.yaml | 12 - .../2/longitudinal_controller.param.yaml | 12 - .../3/longitudinal_controller.param.yaml | 12 - .../4/longitudinal_controller.param.yaml | 12 - .../5/longitudinal_controller.param.yaml | 12 - .../6/longitudinal_controller.param.yaml | 12 - .../7/longitudinal_controller.param.yaml | 12 - .../9/longitudinal_controller.param.yaml | 12 - .../longitudinal_controller.param.yaml | 12 - control_launch/launch/control.launch.py | 81 +++-- .../config/ndt_scan_matcher.param.yaml | 14 + .../pose_estimator/pose_estimator.launch.xml | 1 - .../launch/util/util.launch.py | 2 +- .../elevation_map_parameters.yaml | 2 +- .../avoidance/avoidance.param.yaml | 8 +- .../ad_service_state_monitor.param.yaml | 15 +- .../config/system_error_monitor.param.yaml | 2 - ...ror_monitor.planning_simulation.param.yaml | 4 +- 61 files changed, 719 insertions(+), 1217 deletions(-) create mode 100644 .clang-format create mode 100644 .github/dependabot.yaml delete mode 100644 .github/dependabot.yml delete mode 100755 .github/get_modified_package.sh delete mode 100644 .github/labeler-develop.yml delete mode 100644 .github/labeler-main.yml delete mode 100644 .github/labeler-rc.yml delete mode 100644 .github/labeler.yml create mode 100644 .github/sync-files.yaml create mode 100644 .github/sync-param-files.yaml create mode 100644 .github/workflows/build-and-test-differential.yaml create mode 100644 .github/workflows/build-and-test.yaml delete mode 100644 .github/workflows/build_and_test.yml delete mode 100644 .github/workflows/build_and_test_pr.yml delete mode 100644 .github/workflows/labeler.yml create mode 100644 .github/workflows/pre-commit-optional.yaml create mode 100644 .github/workflows/semantic-pull-request.yaml create mode 100644 .github/workflows/spell-check-differential.yaml delete mode 100644 .github/workflows/spell_check_all.yml delete mode 100644 .github/workflows/spell_check_pr.yml create mode 100644 .github/workflows/sync-files.yaml delete mode 100644 .github/workflows/sync-main-for-develop.yml create mode 100644 .github/workflows/sync-param-files.yaml delete mode 100644 .github/workflows/sync-public-develop.yaml delete mode 100644 .github/workflows/sync-public.yaml delete mode 100644 .github/workflows/sync-rc.yml delete mode 100644 .github/workflows/sync-upstream-develop.yml delete mode 100644 .github/workflows/sync-upstream-use-autoware-auto-msgs.yml create mode 100644 .github/workflows/sync-upstream.yaml delete mode 100644 .github/workflows/sync-upstream.yml delete mode 100644 .github/workflows/update-pre-commit.yml create mode 100644 .markdown-link-check.json create mode 100644 .pre-commit-config-optional.yaml create mode 100644 .yamllint.yaml create mode 100644 CPPLINT.cfg diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000000..7762ec9dfb --- /dev/null +++ b/.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 diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 0000000000..9a2fbd7542 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,7 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + schedule: + interval: daily + open-pull-requests-limit: 1 diff --git a/.github/dependabot.yml b/.github/dependabot.yml deleted file mode 100644 index b940a74a4c..0000000000 --- a/.github/dependabot.yml +++ /dev/null @@ -1,7 +0,0 @@ -version: 2 -updates: - - package-ecosystem: "github-actions" - directory: "/" - schedule: - interval: "daily" - open-pull-requests-limit: 1 diff --git a/.github/get_modified_package.sh b/.github/get_modified_package.sh deleted file mode 100755 index cc99e534a4..0000000000 --- a/.github/get_modified_package.sh +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/bash -# Search for packages that have been modified from the main branch. -# Usage: get_modified_package.sh - -set -e - -SCRIPT_DIR=$(readlink -f "$(dirname "$0")") -ROOT_DIR=$(readlink -f "$SCRIPT_DIR"/../) - -# Parse arguments -args=() -while [ "${1:-}" != "" ]; do - case "$1" in - *) - args+=("$1") - ;; - esac - shift -done - -base_branch="${args[0]}" - -# Check args -if [ "$base_branch" = "" ]; then - echo -e "\e[31mPlease input a valid base_branch as the 1st argument.\e[m" - exit 1 -fi - -function find_package_dir() { - [ "$1" == "" ] && return 1 - - target_dir=$(dirname "$1") - while true ; do - parent_dir=$(dirname "$target_dir") - - # Exit if no parent found - if [ "$parent_dir" = "$target_dir" ] ; then - return 0 - fi - - # Output package name if package.xml found - if [ -f "$target_dir/package.xml" ] ; then - if [ ! -f "$target_dir/COLCON_IGNORE" ] ; then - echo "$target_dir" - return 0 - fi - fi - - # Move to parent dir - target_dir=$parent_dir - done - - return 1 -} - -# Find modified files from base branch -modified_files=$(git diff --name-only "$base_branch"...HEAD) - -# Find modified packages -modified_package_dirs=() -for modified_file in $modified_files; do - modified_package_dir=$(find_package_dir "$ROOT_DIR/$modified_file") - - if [ "$modified_package_dir" != "" ] ; then - modified_package_dirs+=("$modified_package_dir") - fi -done - -# Get package names from paths -if [ "${#modified_package_dirs[@]}" != "0" ] ; then - modified_packages=$(colcon list --names-only --paths "${modified_package_dirs[@]}") -fi - -# Output -# shellcheck disable=SC2086 -echo ::set-output name=package_list::$modified_packages diff --git a/.github/labeler-develop.yml b/.github/labeler-develop.yml deleted file mode 100644 index 04df147b74..0000000000 --- a/.github/labeler-develop.yml +++ /dev/null @@ -1,4 +0,0 @@ -develop: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler-main.yml b/.github/labeler-main.yml deleted file mode 100644 index 5a441060d0..0000000000 --- a/.github/labeler-main.yml +++ /dev/null @@ -1,4 +0,0 @@ -main: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler-rc.yml b/.github/labeler-rc.yml deleted file mode 100644 index 1742be2f7b..0000000000 --- a/.github/labeler-rc.yml +++ /dev/null @@ -1,4 +0,0 @@ -rc: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler.yml b/.github/labeler.yml deleted file mode 100644 index a8d83b209a..0000000000 --- a/.github/labeler.yml +++ /dev/null @@ -1,2 +0,0 @@ -CI: - - ".github/**" diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml new file mode 100644 index 0000000000..30122a85ac --- /dev/null +++ b/.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 diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml new file mode 100644 index 0000000000..ffa78c1690 --- /dev/null +++ b/.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 diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml new file mode 100644 index 0000000000..6e8ebef574 --- /dev/null +++ b/.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/cancel-workflow-action@0.9.1 + + - 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 diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml new file mode 100644 index 0000000000..1e422cc380 --- /dev/null +++ b/.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 diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml deleted file mode 100644 index 6635718c8f..0000000000 --- a/.github/workflows/build_and_test.yml +++ /dev/null @@ -1,68 +0,0 @@ -name: Build and test - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -jobs: - build-and-test: - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - branch: - - main - - develop/ros2 - container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ matrix.branch }} - - - name: Install pip - run: | - apt-get -y update - apt-get -y install python3-pip - - - name: Search packages in this repository - id: list_packages - run: | - echo ::set-output name=package_list::$(colcon list --names-only) - - - name: Show target packages - run: | - echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" - - - name: Remove exec_depend to avoid unnecessary build - run: | - find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com' - - - name: Clone dependency packages - run: | - mkdir dependency_ws - vcs import dependency_ws < build_depends.repos - apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic - - - name: Build - run: | - . /opt/ros/galactic/setup.sh - colcon build --event-handlers console_cohesion+ \ - --packages-up-to ${{ steps.list_packages.outputs.package_list }} \ - --cmake-args -DCMAKE_BUILD_TYPE=Release - - - name: Run tests - run: | - . /opt/ros/galactic/setup.sh - colcon test --event-handlers console_cohesion+ \ - --packages-select ${{ steps.list_packages.outputs.package_list }} \ - --return-code-on-test-failure diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml deleted file mode 100644 index 144bff1611..0000000000 --- a/.github/workflows/build_and_test_pr.yml +++ /dev/null @@ -1,69 +0,0 @@ -name: Build and test for PR - -on: - pull_request: - -jobs: - build-and-test-pr: - runs-on: ubuntu-latest - container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest - - steps: - - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.9.1 - - - name: Checkout repository - uses: actions/checkout@v2 - with: - # Fetch with depth=0 to calculate modified packages - fetch-depth: 0 - - - name: Install pip - run: | - apt-get -y update - apt-get -y install python3-pip - - - name: Search modified packages - id: list_packages - run: | - ${GITHUB_WORKSPACE}/.github/get_modified_package.sh origin/${{ github.base_ref }} - - - name: Show target packages - run: | - echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" - - - name: Remove exec_depend to avoid unnecessary build - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - - name: Set git config for private repositories - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com' - - - name: Clone dependency packages - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - mkdir dependency_ws - vcs import dependency_ws < build_depends.repos - apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic - - - name: Build - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - . /opt/ros/galactic/setup.sh - colcon build --event-handlers console_cohesion+ \ - --packages-up-to ${{ steps.list_packages.outputs.package_list }} \ - --cmake-args -DCMAKE_BUILD_TYPE=Release - - - name: Run tests - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - . /opt/ros/galactic/setup.sh - colcon test --event-handlers console_cohesion+ \ - --packages-select ${{ steps.list_packages.outputs.package_list }} \ - --return-code-on-test-failure diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml deleted file mode 100644 index 6216cbae52..0000000000 --- a/.github/workflows/labeler.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Labeler -on: - pull_request: - branches: - - main - - develop - - rc/* - -jobs: - labeler: - runs-on: ubuntu-latest - - steps: - - name: Run labeler - uses: actions/labeler@v3 - with: - configuration-path: .github/labeler.yml - repo-token: "${{ secrets.GITHUB_TOKEN }}" - - - name: Set LABELER_SUFFIX - run: | - branch_name=${GITHUB_BASE_REF#refs/heads/} - echo "LABELER_SUFFIX=${branch_name%/*}" >> $GITHUB_ENV - - - name: Run labeler for branch - uses: actions/labeler@v3 - with: - configuration-path: .github/labeler-${{ env.LABELER_SUFFIX }}.yml - repo-token: "${{ secrets.GITHUB_TOKEN }}" diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml new file mode 100644 index 0000000000..50b6778a25 --- /dev/null +++ b/.github/workflows/pre-commit-optional.yaml @@ -0,0 +1,16 @@ +name: pre-commit-optional + +on: + pull_request: + +jobs: + pre-commit-optional: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v2 + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal + with: + pre-commit-config: .pre-commit-config-optional.yaml diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 22e56ca2b6..9eb501a19d 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -2,20 +2,15 @@ name: pre-commit on: pull_request: - workflow_dispatch: jobs: pre-commit: runs-on: ubuntu-latest - steps: - - name: Checkout repository + - name: Check out repository uses: actions/checkout@v2 - with: - fetch-depth: 0 - - - name: Setup Python - uses: actions/setup-python@v2 - name: Run pre-commit - uses: pre-commit/action@v2.0.3 + uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal + with: + pre-commit-config: .pre-commit-config.yaml diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml new file mode 100644 index 0000000000..0edf194633 --- /dev/null +++ b/.github/workflows/semantic-pull-request.yaml @@ -0,0 +1,12 @@ +name: semantic-pull-request + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + semantic-pull-request: + uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 0000000000..1b5c52cb40 --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,16 @@ +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v2 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal + with: + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json diff --git a/.github/workflows/spell_check_all.yml b/.github/workflows/spell_check_all.yml deleted file mode 100644 index 341bc91e9a..0000000000 --- a/.github/workflows/spell_check_all.yml +++ /dev/null @@ -1,39 +0,0 @@ -name: Check spelling (all files) - -on: - workflow_dispatch: - inputs: - ignore_patterns: - description: "ignore patterns (ex. *.svg|*.osm)" - required: false - -jobs: - spellcheck: - runs-on: ubuntu-latest - steps: - - name: Checkout repository - uses: actions/checkout@v2 - - - name: Prepare node - uses: actions/setup-node@v2 - - - name: Install cspell - run: | - npm install cspell - - - name: Retrieve spell check dictionary - run: | - curl --silent --show-error \ - --output .github/workflows/.cspell.json \ - https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - - name: Check spelling - run: | - # The cspell-action might not be able to exclude specific files. - # So use cspell package directly instead. - # How to exclude specific files: - # Ex. "**/!(*.osm|*.svg|CHANGELOG.rst)" - ./node_modules/.bin/cspell \ - --config .github/workflows/.cspell.json \ - "**/!(${{ github.event.inputs.ignore_patterns }})" \ - 2> /dev/null diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml deleted file mode 100644 index cf9e65d4a0..0000000000 --- a/.github/workflows/spell_check_pr.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Check spelling - -on: - pull_request: - -jobs: - spellcheck: - runs-on: ubuntu-latest - steps: - - name: Checkout repository - uses: actions/checkout@v2 - - - name: Retrieve spell check dictionary - run: | - curl --silent --show-error \ - --output .github/workflows/.cspell.json \ - https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - - uses: streetsidesoftware/cspell-action@v1.3.5 - with: - config: ".github/workflows/.cspell.json" diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml new file mode 100644 index 0000000000..0c5b4b04fa --- /dev/null +++ b/.github/workflows/sync-files.yaml @@ -0,0 +1,22 @@ +name: sync-files + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-files: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} diff --git a/.github/workflows/sync-main-for-develop.yml b/.github/workflows/sync-main-for-develop.yml deleted file mode 100644 index ea329bf8a5..0000000000 --- a/.github/workflows/sync-main-for-develop.yml +++ /dev/null @@ -1,66 +0,0 @@ -name: sync main for develop - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: develop - SYNC_TARGET_BRANCH: main - SYNC_BRANCH: sync-main-for-develop - -jobs: - sync-main-for-develop: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync main for develop - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync main for develop - body: | - sync main for develop - labels: | - sync-main-for-develop - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml new file mode 100644 index 0000000000..09d7f0629f --- /dev/null +++ b/.github/workflows/sync-param-files.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: tier4/universe + pr-title: "chore: sync upstream" + auto-merge-method: merge diff --git a/.github/workflows/sync-public-develop.yaml b/.github/workflows/sync-public-develop.yaml deleted file mode 100644 index 874b81344c..0000000000 --- a/.github/workflows/sync-public-develop.yaml +++ /dev/null @@ -1,40 +0,0 @@ -name: sync public - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: develop - SYNC_TARGET_BRANCH: develop - SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - -jobs: - sync-public: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }} - private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Push to public repository - run: | - git remote add public ${{ env.SYNC_TARGET_REPOSITORY }} - git fetch public - git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }} diff --git a/.github/workflows/sync-public.yaml b/.github/workflows/sync-public.yaml deleted file mode 100644 index 8cc1453bf3..0000000000 --- a/.github/workflows/sync-public.yaml +++ /dev/null @@ -1,40 +0,0 @@ -name: sync public - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: main - SYNC_TARGET_BRANCH: main - SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - -jobs: - sync-public: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }} - private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Push to public repository - run: | - git remote add public ${{ env.SYNC_TARGET_REPOSITORY }} - git fetch public - git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }} diff --git a/.github/workflows/sync-rc.yml b/.github/workflows/sync-rc.yml deleted file mode 100644 index c6bd10149e..0000000000 --- a/.github/workflows/sync-rc.yml +++ /dev/null @@ -1,121 +0,0 @@ -name: sync rc - -on: - pull_request: - branches: - - "rc/*" - types: - - closed - workflow_dispatch: - inputs: - rc_branch: - description: "Target RC branch(e.g. rc/v1.0.0)" - required: true - -jobs: - sync-rc: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set SYNC_TARGET_BRANCH for pull_request event - if: github.event_name == 'pull_request' - run: | - echo "SYNC_TARGET_BRANCH=${{ github.base_ref }}" >> $GITHUB_ENV - - - name: Set SYNC_TARGET_BRANCH for workflow_dispatch event - if: github.event_name == 'workflow_dispatch' - run: | - echo "SYNC_TARGET_BRANCH=${{ github.event.inputs.rc_branch }}" >> $GITHUB_ENV - - - name: Set SYNC_BRANCH - run: | - echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*" - echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV - - - name: Judge BASE_BRANCH - run: | - function is_main_base() { - target_branch="$1" - - git rev-parse --quiet --verify origin/develop || return 0 - - main_base=$(git merge-base "${target_branch}" origin/main) - develop_base=$(git merge-base "${target_branch}" origin/develop/ros2) - - return $(test "${main_base}" = "${develop_base}") - } - - if is_main_base "origin/${{ env.SYNC_TARGET_BRANCH }}"; then - base_branch=main - else - base_branch=develop/ros2 - fi - - echo "BASE_BRANCH=${base_branch}" >> $GITHUB_ENV - - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }} - - - name: Set git config - run: | - git config --local user.email "actions@example.com" - git config --local user.name "Github Actions" - - - name: Rebase on the base branch - run: | - for commit in $(git rev-list --left-only "origin/${{ env.BASE_BRANCH }}"...HEAD | tac); do - merge_base=$(git merge-base HEAD "origin/${{ env.BASE_BRANCH }}") - git rebase --onto "$commit" "$merge_base" "${{ env.BASE_BRANCH }}" || git rebase --abort - done - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync rc - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync rc ${{ env.SYNC_TARGET_BRANCH }} - body: | - sync rc ${{ env.SYNC_TARGET_BRANCH }} - labels: | - sync-rc - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: squash diff --git a/.github/workflows/sync-upstream-develop.yml b/.github/workflows/sync-upstream-develop.yml deleted file mode 100644 index 941c141208..0000000000 --- a/.github/workflows/sync-upstream-develop.yml +++ /dev/null @@ -1,77 +0,0 @@ -name: sync upstream develop - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git - BASE_BRANCH: develop/ros2 - SYNC_TARGET_BRANCH: develop - SYNC_BRANCH: sync-upstream-develop - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream develop - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream develop - body: | - sync upstream develop - labels: | - sync-upstream-develop - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml deleted file mode 100644 index ee5640c8d2..0000000000 --- a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml +++ /dev/null @@ -1,74 +0,0 @@ -name: sync upstream use autoware auto msgs - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - BASE_BRANCH: use-autoware-auto-msgs - SYNC_TARGET_BRANCH: use-autoware-auto-msgs - SYNC_BRANCH: sync-upstream-use-autoware-auto-msgs - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream use autoware auto msgs - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream use autoware auto msgs - body: | - sync upstream use autoware auto msgs - labels: | - sync-upstream-use-autoware-auto-msgs - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000..09d7f0629f --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: tier4/universe + pr-title: "chore: sync upstream" + auto-merge-method: merge diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml deleted file mode 100644 index a27daa46f9..0000000000 --- a/.github/workflows/sync-upstream.yml +++ /dev/null @@ -1,77 +0,0 @@ -name: sync upstream - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/autoware_launch.git - BASE_BRANCH: tier4/universe - SYNC_TARGET_BRANCH: tier4/universe - SYNC_BRANCH: sync-upstream - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream - body: | - sync upstream - labels: | - sync-upstream - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml deleted file mode 100644 index d4a2f277d6..0000000000 --- a/.github/workflows/update-pre-commit.yml +++ /dev/null @@ -1,42 +0,0 @@ -name: Update pre-commit - -on: - schedule: - - cron: "0 19 * * 0" # run at 4 AM JST on Sundays - workflow_dispatch: - -jobs: - update-pre-commit: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Setup Python - uses: actions/setup-python@v2 - with: - python-version: 3.8 - - - name: Install pre-commit - run: pip install pre-commit - - - name: Run pre-commit autoupdate - run: pre-commit autoupdate - - - name: Create Pull Request - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - base: main - branch: update/pre-commit-autoupdate - title: Auto-update pre-commit hooks - commit-message: Auto-update pre-commit hooks - body: | - Update versions of tools in pre-commit configs to latest version - labels: dependencies diff --git a/.markdown-link-check.json b/.markdown-link-check.json new file mode 100644 index 0000000000..331095d38d --- /dev/null +++ b/.markdown-link-check.json @@ -0,0 +1,10 @@ +{ + "aliveStatusCodes": [200, 206, 403], + "ignorePatterns": [ + { + "pattern": "^http://localhost" + } + ], + "retryOn429": true, + "retryCount": 10 +} diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 605ac41ce9..dbd5b9703d 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -4,3 +4,4 @@ MD024: siblings_only: true MD033: false MD041: false +MD046: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml new file mode 100644 index 0000000000..e54ba1fdd5 --- /dev/null +++ b/.pre-commit-config-optional.yaml @@ -0,0 +1,6 @@ +repos: + - repo: https://github.com/tcort/markdown-link-check + rev: v3.9.3 + hooks: + - id: markdown-link-check + args: [--config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 59d935c126..0f5ae2f622 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,25 +1,10 @@ -# To install: -# -# pip install pre-commit -# -# To use: -# -# pre-commit run -a -# -# Or: -# -# pre-commit install # (runs every time you commit in git) -# -# To update this file: -# -# pre-commit autoupdate -# -# See https://github.com/pre-commit/pre-commit +ci: + autofix_commit_msg: "ci(pre-commit): autofix" + autoupdate_commit_msg: "ci(pre-commit): autoupdate" repos: - # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.0.1 + rev: v4.1.0 hooks: - id: check-json - id: check-merge-conflict @@ -33,37 +18,48 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.29.0 + rev: v0.30.0 hooks: - id: markdownlint - args: ["-c", ".markdownlint.yaml", "--fix"] + args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v2.4.1 + rev: v2.5.1 hooks: - id: prettier + - repo: https://github.com/adrienverge/yamllint + rev: v1.26.3 + hooks: + - id: yamllint + - repo: https://github.com/tier4/pre-commit-hooks-ros rev: v0.4.0 hooks: - id: prettier-package-xml - id: sort-package-xml - - repo: https://github.com/gruntwork-io/pre-commit - rev: v0.1.17 + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.8.0.1 hooks: - id: shellcheck + - repo: https://github.com/scop/pre-commit-shfmt + rev: v3.4.1-1 + hooks: + - id: shfmt + args: [-w, -s, -i=4] + - repo: https://github.com/pycqa/isort - rev: 5.9.3 + rev: 5.10.1 hooks: - id: isort - repo: https://github.com/psf/black - rev: 21.9b0 + rev: 22.1.0 hooks: - id: black - args: ["--line-length=100"] + args: [--line-length=100] - repo: https://github.com/PyCQA/flake8 rev: 4.0.1 @@ -71,14 +67,26 @@ repos: - id: flake8 additional_dependencies: [ - "flake8-blind-except", - "flake8-builtins", - "flake8-class-newline", - "flake8-comprehensions", - "flake8-deprecated", - "flake8-docstrings", - "flake8-import-order", - "flake8-quotes", + flake8-blind-except, + flake8-builtins, + flake8-class-newline, + flake8-comprehensions, + flake8-deprecated, + flake8-docstrings, + flake8-import-order, + flake8-quotes, ] -exclude: ".svg" + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v12.0.1 + hooks: + - id: clang-format + + - repo: https://github.com/cpplint/cpplint + rev: 1.5.5 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + +exclude: .svg diff --git a/.prettierrc.yaml b/.prettierrc.yaml index ef9b1b85a7..48b0552e3f 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,2 +1,2 @@ -printWidth: 120 +printWidth: 100 tabWidth: 2 diff --git a/.yamllint.yaml b/.yamllint.yaml new file mode 100644 index 0000000000..6228c70f02 --- /dev/null +++ b/.yamllint.yaml @@ -0,0 +1,23 @@ +extends: default + +ignore: | + .clang-tidy + *.param.yaml + +rules: + braces: + level: error + max-spaces-inside: 1 # To format with Prettier + comments: + level: error + min-spaces-from-content: 1 # To be compatible with C++ and Python + document-start: + level: error + present: false # Don't need document start markers + line-length: disable # Delegate to Prettier + truthy: + level: error + check-keys: false # To allow 'on' of GitHub Actions + quoted-strings: + level: error + required: only-when-needed # To keep consistent style diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000000..4dbbe0596b --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,13 @@ +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 +set noparent +linelength=100 +includeorder=standardcfirst +filter=-build/c++11 # we do allow C++11 +filter=-build/namespaces_literals # we allow using namespace for literals +filter=-runtime/references # we consider passing non-const references to be ok +filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions +filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/parens # we allow closing parenthesis to be on the next line +filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon +filter=-build/header_guard # TODO(Kenji Miyake): Support ROS-style rule in cpplint or add auto-fix script in pre-commit +filter=-build/include_order # we use the custom include order diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml index 9e1baf93e5..c3562857fe 100644 --- a/autoware_api_launch/launch/autoware_api.launch.xml +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -1,5 +1,7 @@ + + @@ -19,4 +21,10 @@ + + + + + + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 2d2272b665..f9f02ac7c9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,10 +4,10 @@ - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 0486b0dbb5..354513a70b 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -355,7 +355,7 @@ Visualization Manager: Min Intensity: 0 Name: PointCloudMap Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 1 Size (m): 0.02 Style: Points @@ -424,7 +424,7 @@ Visualization Manager: Min Intensity: 0 Name: ConcatenatePointCloud Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 1 Size (m): 0.02 Style: Points @@ -599,7 +599,7 @@ Visualization Manager: Min Intensity: 0 Name: Initial Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 10 Size (m): 0.02 Style: Squares @@ -632,7 +632,7 @@ Visualization Manager: Min Intensity: 0 Name: Aligned Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 10 Size (m): 0.02 Style: Squares @@ -705,7 +705,7 @@ Visualization Manager: Min Intensity: -5 Name: NoGroundPointCloud Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 3 Size (m): 0.02 Style: Points @@ -722,178 +722,207 @@ Visualization Manager: Name: Segmentation - Class: rviz_common/Group Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Detection + Name: Prediction + Enabled: true + Name: ObjectRecognition - Class: rviz_common/Group Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_default_plugins/Image Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 + Value: /perception/traffic_light_recognition/debug/rois Value: true - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_default_plugins/MarkerArray Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: PredictedObjects + Name: MapBasedDetectionResult Namespaces: {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers Value: true Enabled: true - Name: Prediction + Name: TrafficLight - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/Image + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RecognitionResultOnImage - Normalize Range: true + Name: Map Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/debug/rois - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MapBasedDetectionResult - Namespaces: - {} - Topic: + Value: /perception/occupancy_grid_map/map + Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false Value: true - Enabled: true - Name: TrafficLight + Enabled: false + Name: OccupancyGrid Enabled: true Name: Perception - Class: rviz_common/Group @@ -1141,6 +1170,8 @@ Visualization Manager: obstacle: false sidewalk: false slow factor_text: true + path_raw: false + path_interp: false Topic: Depth: 5 Durability Policy: Volatile @@ -1421,7 +1452,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/pure_pursuit/debug/markers + Value: /control/trajectory_follower/pure_pursuit_node_exe/debug/markers Value: false Enabled: true Name: Control diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index dfe7663643..ffa0cc6d11 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 966f4deaea..872e906610 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index b4d4065d63..438842defa 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 09d080af14..ec4bcee67a 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index ccb91b24a4..0aa3bdac68 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 9a37b0b088..94dfcde78c 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -19,6 +19,7 @@ from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition +from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import EnvironmentVariable @@ -54,7 +55,7 @@ def launch_setup(context, *args, **kwargs): lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] # lateral controller - lat_controller_component = ComposableNode( + mpc_follower_component = ComposableNode( package="trajectory_follower_nodes", plugin="autoware::motion::control::trajectory_follower_nodes::LateralController", name="lateral_controller_node_exe", @@ -72,6 +73,21 @@ def launch_setup(context, *args, **kwargs): ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) + pure_pursuit_component = ComposableNode( + package="pure_pursuit", + plugin="pure_pursuit::PurePursuitNode", + name="pure_pursuit_node_exe", + namespace="trajectory_follower", + remappings=[ + ("input/reference_trajectory", "/planning/scenario_planning/trajectory"), + ("input/current_odometry", "/localization/kinematic_state"), + ("output/control_raw", "lateral/control_cmd"), + ], + parameters=[ + lat_controller_param, + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) # longitudinal controller lon_controller_component = ComposableNode( @@ -88,12 +104,6 @@ def launch_setup(context, *args, **kwargs): ], parameters=[ lon_controller_param, - { - "control_rate": LaunchConfiguration("control_rate"), - "show_debug_info": LaunchConfiguration("show_debug_info"), - "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"), - "enable_pub_debug": LaunchConfiguration("enable_pub_debug"), - }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -218,7 +228,7 @@ def launch_setup(context, *args, **kwargs): ) # set container to run all required components in the same process - container = ComposableNodeContainer( + mpc_follower_container = ComposableNodeContainer( name="control_container", namespace="", package="rclcpp_components", @@ -230,22 +240,43 @@ def launch_setup(context, *args, **kwargs): shift_decider_component, vehicle_cmd_gate_component, ], + condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc_follower"), + ) + pure_pursuit_container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + lon_controller_component, + latlon_muxer_component, + shift_decider_component, + vehicle_cmd_gate_component, + ], + condition=LaunchConfigurationEquals("lateral_controller_mode", "pure_pursuit"), ) # lateral controller is separated since it may be another controller (e.g. pure pursuit) - lat_controller_loader = LoadComposableNodes( - composable_node_descriptions=[lat_controller_component], - target_container=container, - # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"), + mpc_follower_loader = LoadComposableNodes( + composable_node_descriptions=[mpc_follower_component], + target_container=mpc_follower_container, + condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc_follower"), + ) + pure_pursuit_loader = LoadComposableNodes( + composable_node_descriptions=[pure_pursuit_component], + target_container=pure_pursuit_container, + condition=LaunchConfigurationEquals("lateral_controller_mode", "pure_pursuit"), ) group = GroupAction( [ PushRosNamespace("control"), - container, + mpc_follower_container, + pure_pursuit_container, external_cmd_selector_loader, external_cmd_converter_loader, - lat_controller_loader, + mpc_follower_loader, + pure_pursuit_loader, ] ) @@ -260,12 +291,14 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - # add_launch_arg( - # "lateral_controller_mode", - # "mpc_follower", - # "lateral controller mode: `mpc_follower` or `pure_pursuit`", - # ) + # lateral controller mode + add_launch_arg( + "lateral_controller_mode", + "mpc_follower", + "lateral controller mode: `mpc_follower` or `pure_pursuit`", + ) + # parameter file path add_launch_arg( "lat_controller_param_path", [ @@ -274,7 +307,7 @@ def add_launch_arg(name: str, default_value=None, description=None): EnvironmentVariable(name="VEHICLE_ID", default_value="default"), "/lateral_controller.param.yaml", ], - "path to the parameter file of lateral controller", + "path to the parameter file of lateral controller. default is `mpc_follower`", ) add_launch_arg( "lon_controller_param_path", @@ -307,14 +340,6 @@ def add_launch_arg(name: str, default_value=None, description=None): [FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"], ) - # velocity controller - add_launch_arg("control_rate", "30.0", "control rate") - add_launch_arg("show_debug_info", "false", "show debug information") - add_launch_arg( - "enable_smooth_stop", "true", "enable smooth stop (in velocity controller state)" - ) - add_launch_arg("enable_pub_debug", "true", "enable to publish debug information") - # vehicle cmd gate add_launch_arg("use_emergency_handling", "false", "use emergency handling") add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop") diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml index 0448d1fc63..ae5a39dd99 100644 --- a/localization_launch/config/ndt_scan_matcher.param.yaml +++ b/localization_launch/config/ndt_scan_matcher.param.yaml @@ -26,9 +26,23 @@ # Threshold for deciding whether to trust the estimation result converged_param_transform_probability: 3.0 + # The number of particles to estimate initial pose + initial_estimate_particles_num: 100 + # neighborhood search method in OMP # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 omp_neighborhood_search_method: 0 # Number of threads used for parallel computing omp_num_threads: 4 + + # The covariance of output pose + output_pose_covariance: + [ + 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, + ] diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index c3f35464e4..f27899050c 100644 --- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -9,7 +9,6 @@ - diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py index b6f66fa19e..abcd824b7a 100644 --- a/localization_launch/launch/util/util.launch.py +++ b/localization_launch/launch/util/util.launch.py @@ -55,7 +55,7 @@ def load_composable_node_param(param_path): ) random_downsample_component = ComposableNode( package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent", name="random_downsample_filter", remappings=[ ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml index 955a9e197e..781ccb806b 100644 --- a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml +++ b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml @@ -5,7 +5,7 @@ pcl_grid_map_extraction: x: 0.0 y: 0.0 z: 0.0 - rotation: #intrinsic rotation X-Y-Z (r-p-y)sequence + rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence r: 0.0 p: 0.0 y: 0.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index bc29fba86c..f9aed1030e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -7,11 +7,15 @@ detection_area_right_expand_dist: 0.0 detection_area_left_expand_dist: 1.0 - # threshold_distance_object_is_on_center: 1.0 # [m] + enable_avoidance_over_same_direction: true + enable_avoidance_over_opposite_direction: true + + threshold_distance_object_is_on_center: 1.0 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] lateral_collision_margin: 1.8 # [m] + lateral_collision_safety_buffer: 0.7 # [m] prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] @@ -20,6 +24,8 @@ min_nominal_avoidance_speed: 7.0 # [m/s] min_sharp_avoidance_speed: 1.0 # [m/s] + road_shoulder_safety_margin: 0.5 # [m] + max_right_shift_length: 5.0 max_left_shift_length: 5.0 diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 1dbb3fdce8..5e9c1dfeb3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -53,6 +53,12 @@ type: "sensor_msgs/msg/PointCloud2" transient_local: True + /perception/obstacle_segmentation/pointcloud: + module: "sensing" + timeout: 1.0 + warn_rate: 5.0 + type: "sensor_msgs/msg/PointCloud2" + best_effort: True /sensing/imu/imu_data: module: "sensing" timeout: 1.0 @@ -81,14 +87,7 @@ # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types # to be defined for a topic. By default this is set to not use have features. - # type: ["autoware_perception_msgs/msg/DynamicObjectArray", "autoware_perception_msgs/msg/DynamicObjectWithFeatureArray"] - - /perception/obstacle_segmentation/pointcloud: - module: "perception" - timeout: 1.0 - warn_rate: 5.0 - type: "sensor_msgs/msg/PointCloud2" - best_effort: True + # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"] /planning/mission_planning/route: module: "planning" diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index 0e942ced6c..30739070d5 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -41,8 +41,6 @@ /autoware/vehicle/node_alive_monitoring: default - /autoware/system/debug_data_logger/storage_error: default - external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml index 2d319e3ceb..b16c0b9938 100644 --- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml @@ -20,7 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/local_external_control/device_connection: default + # /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } @@ -37,7 +37,7 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default