Merge branch 'main' into ismet/doc/create-sensor-calibration

.github/dependabot.yaml

@@ -6,5 +6,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions

.github/stale.yml

@@ -4,7 +4,7 @@
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >

.github/workflows/github-release.yaml

@@ -30,7 +30,7 @@ jobs:
           echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ steps.set-tag-name.outputs.ref-name }}

.github/workflows/pre-commit-optional.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

.github/workflows/pre-commit.yaml

@@ -16,7 +16,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 

.github/workflows/spell-check-differential.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1

.github/workflows/sync-files.yaml

@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash

docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md

@@ -117,7 +117,10 @@ References:
 
 1. Calibration of sensor
 
-   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology. How to calibrating your sensors refer to this link [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md).
+   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology.
+   Please consult the following link
+   [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors) for instructions
+   on how to calibrate your sensors.
 
 2. Localization
 

docs/contributing/pull-request-guidelines/ci-checks.md

@@ -58,11 +58,15 @@ pre-commit run -a --config .pre-commit-config-optional.yaml
 
 ## spell-check-differential
 
-This workflow detects spelling mistakes using [CSpell](https://github.com/streetsidesoftware/cspell) with [our dictionary file](https://github.com/tier4/autoware-spell-check-dict/blob/main/.cspell.json).  
-You can submit pull requests to [tier4/autoware-spell-check-dict](https://github.com/tier4/autoware-spell-check-dict) to update the dictionary.
-
+This workflow detects spelling mistakes using [CSpell](https://github.com/streetsidesoftware/cspell) with [our dictionary file](https://github.com/tier4/autoware-spell-check-dict/blob/main/.cspell.json).
 Since it is difficult to detect errors with no false positives, it is an optional workflow, but it is preferable to remove spelling mistakes as many as possible.
 
+You have the following options if you need to use a word that is not registered in the dictionary.
+
+- If the word is only used in a few files, you can use [inline document settings "cspell:ignore"](https://cspell.org/configuration/document-settings/) to suppress the check.
+- If the word is widely used in the repository, you can create a local cspell json and pass it to the [spell-check action](https://github.com/autowarefoundation/autoware-github-actions/tree/main/spell-check).
+- If the word is common and may be used in many repositories, you can submit pull requests to [tier4/autoware-spell-check-dict](https://github.com/tier4/autoware-spell-check-dict) or [tier4/cspell-dicts](https://github.com/tier4/cspell-dicts) to update the dictionary.
+
 ## build-and-test-differential
 
 This workflow checks `colcon build` and `colcon test` for the pull request.  

docs/design/autoware-architecture/sensing/data-types/point-cloud.md

@@ -37,17 +37,17 @@ It is recommended that these modules are used in a single container as component
 
 In the ideal case, the driver is expected to output a point cloud with the `PointXYZIRCADT` point type.
 
-| name              | datatype  | derived | description                                                                  |
-| ----------------- | --------- | ------- | ---------------------------------------------------------------------------- |
-| `X`               | `FLOAT32` | `false` | X position                                                                   |
-| `Y`               | `FLOAT32` | `false` | Y position                                                                   |
-| `Z`               | `FLOAT32` | `false` | Z position                                                                   |
-| `I` (intensity)   | `UINT8`   | `false` | Measured reflectivity, intensity of the point                                |
-| `R` (return type) | `UINT8`   | `false` | Laser return type for dual return lidars                                     |
-| `C` (channel)     | `UINT16`  | `false` | Vertical channel id of the laser that measured the point                     |
-| `A` (azimuth)     | `FLOAT32` | `true`  | `atan2(Y, X)`, Horizontal angle from the front of the lidar to the point     |
-| `D` (distance)    | `FLOAT32` | `true`  | `hypot(X, Y, Z)`, Euclidean distance of the point to lidar                   |
-| `T` (time)        | `UINT32`  | `false` | Nanoseconds passed since the time of the header when this point was measured |
+| name              | datatype  | derived | description                                                              |
+| ----------------- | --------- | ------- | ------------------------------------------------------------------------ |
+| `X`               | `FLOAT32` | `false` | X position                                                               |
+| `Y`               | `FLOAT32` | `false` | Y position                                                               |
+| `Z`               | `FLOAT32` | `false` | Z position                                                               |
+| `I` (intensity)   | `FLOAT32` | `false` | Measured reflectivity, intensity of the point                            |
+| `R` (return type) | `UINT8`   | `false` | Laser return type for dual return lidars                                 |
+| `C` (channel)     | `UINT16`  | `false` | Vertical channel id of the laser that measured the point                 |
+| `A` (azimuth)     | `FLOAT32` | `true`  | `atan2(Y, X)`, Horizontal angle from the front of the lidar to the point |
+| `D` (distance)    | `FLOAT32` | `true`  | `hypot(X, Y, Z)`, Euclidean distance of the point to lidar               |
+| `T` (time stamp)  | `FLOAT64` | `false` | Seconds passed since the time of the header when this point was measured |
 
 !!! note
 
@@ -180,7 +180,7 @@ For solid state lidars that have lines, assign row number as the channel id.
 
 For petal pattern lidars, you can keep channel 0.
 
-### Time
+### Time stamp
 
 In lidar point clouds, each point measurement can have its individual time stamp.
 This information can be used to eliminate the motion blur that is caused by the movement of the lidar during the scan.
@@ -204,13 +204,8 @@ The header of the point cloud message is expected to have the time of the earlie
 
     **More info at:** https://github.com/ros2/rcl_interfaces/issues/85
 
-#### Individual point time
+#### Individual point time stamp
 
-Each `PointXYZIRCT` point type has the `T` field for representing the nanoseconds passed since the first-shot point of the point cloud.
+Each `PointXYZIRCT` point type has the `T` field for representing the seconds passed since the first-shot point of the point cloud.
 
-To calculate exact time each point was shot, the `T` nanoseconds are added to the header time.
-
-!!! note
-
-    The `T` field is `uint32` type. The largest value it can represent is 2^32 nanoseconds, which equates to roughly
-    4.29 seconds. Usual point clouds don't last more than 100ms for full cycle. So this field should be enough.
+To calculate exact time each point was shot, the `T` seconds are added to the header time.

docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/get_policies.md

@@ -12,7 +12,7 @@ type:
     - name: policies.sequence
       text: The type of the target sequence.
     - name: policies.policy
-      text: The type of the cooporation policy.
+      text: The type of the cooperation policy.
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}

docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_policies.md

@@ -10,7 +10,7 @@ type:
     - name: policies.sequence
       text: The type of the target sequence.
     - name: policies.policy
-      text: The type of the cooporation policy.
+      text: The type of the cooperation policy.
   res:
     - name: status
       text: response status

docs/how-to-guides/integrating-autoware/.pages

@@ -1,7 +1,7 @@
 nav:
   - overview.md
-  - 1. Creating your Autoware meta repository: creating-your-autoware-meta-repository
-  - 2. Creating vehicle and sensor description: creating-vehicle-and-sensor-description
+  - 1. Creating your Autoware repositories: creating-your-autoware-repositories
+  - 2. Creating vehicle and sensor model: creating-vehicle-and-sensor-model
   - 3. Creating vehicle interface: creating-vehicle-interface-package
   - 4. Creating maps: creating-maps
   - 5. Launch Autoware: launch-autoware

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/.pages

@@ -0,0 +1,6 @@
+nav:
+  - index.md
+  - Creating sensor model: creating-sensor-model
+  - Creating individual params: creating-individual-params
+  - Creating vehicle model: creating-vehicle-model
+  - Calibrating sensors: calibrating-sensors

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages

@@ -0,0 +1,2 @@
+nav:
+  - index.md