Merge branch 'autowarefoundation:main' into feat/distortion_correctio…

…n_node_update_azimuth_and_distance

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
+  "words": ["dltype", "tvmgen"]
 }

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

@@ -24,7 +24,6 @@ jobs:
         rosdistro:
           - humble
         container-suffix:
-          - ""
           - -cuda
         include:
           - rosdistro: humble
@@ -36,6 +35,9 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Check disk space before build
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,37 +71,5 @@ jobs:
           verbose: true
           flags: differential
 
-  clang-tidy-differential:
-    runs-on: [self-hosted, linux, X64]
-    container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos
+      - name: Check disk space after build
+        run: df -h

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

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -27,14 +27,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
-      - name: Free disk space (Ubuntu)
-        uses: jlumbroso/[email protected]
-        with:
-          tool-cache: false
-          dotnet: false
-          swap-storage: false
-          large-packages: false
-
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 

.github/workflows/cancel-previous-workflows.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.11.0
+        uses: styfle/cancel-workflow-action@0.12.0
         with:
           workflow_id: all
           all_but_latest: true

.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/json-schema-check.yaml

@@ -2,16 +2,38 @@ name: json-schema-check
 
 on:
   pull_request:
-    paths:
-      - "**/schema/*.schema.json"
-      - "**/config/*.param.yaml"
+  workflow_dispatch:
 
 jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-latest
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/*.param.yaml'
+
   json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
       - name: Run json-schema-check
         uses: autowarefoundation/autoware-github-actions/json-schema-check@v1
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"

.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-all.yaml

@@ -2,6 +2,8 @@ name: spell-check-all
 
 on:
   workflow_dispatch:
+  schedule:
+    - cron: 0 0 * * *
 
 jobs:
   spell-check-all:

README.md

@@ -1,7 +1,16 @@
-# autoware.universe
+# Autoware Universe
 
-For Autoware's general documentation, see [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/).
+## Welcome to Autoware Universe
 
-For detailed documents of Autoware Universe components, see [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/).
+Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.
+This repository is a pivotal element of the Autoware Core/Universe concept, managing a wide array of packages that significantly extend the capabilities of autonomous vehicles.
 
----
+![autoware_universe_front](docs/assets/images/autoware_universe_front.png)
+
+## Getting Started
+
+To dive into the vast world of Autoware and understand how Autoware Universe fits into the bigger picture, we recommend starting with the [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/). This resource provides a thorough overview of the Autoware ecosystem, guiding you through its components, functionalities, and how to get started with development.
+
+### Explore Autoware Universe documentation
+
+For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/), deployed with MKDocs, offers detailed insights.

common/autoware_ad_api_specs/package.xml

@@ -5,8 +5,6 @@
   <version>0.0.0</version>
   <description>The autoware_ad_api_specs package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
-  <maintainer email="[email protected]">yabuta</maintainer>
-  <maintainer email="[email protected]">Kah Hooi Tan</maintainer>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
 

common/autoware_auto_common/design/comparisons.md

@@ -22,8 +22,8 @@ The `exclusive_or` function will test whether two values cast to different boole
 ## Example Usage
 
 ```c++
-#include "common/bool_comparisons.hpp"
-#include "common/float_comparisons.hpp"
+#include "autoware_auto_common/common/bool_comparisons.hpp"
+#include "autoware_auto_common/common/float_comparisons.hpp"
 
 #include <iostream>
 

common/autoware_auto_common/include/common/type_traits.hpp → common/autoware_auto_common/include/autoware_auto_common/common/type_traits.hpp

@@ -14,15 +14,15 @@
 //
 // Developed by Apex.AI, Inc.
 
-#include <common/types.hpp>
-#include <common/visibility_control.hpp>
+#include "autoware_auto_common/common/types.hpp"
+#include "autoware_auto_common/common/visibility_control.hpp"
 
 #include <cstdint>
 #include <tuple>
 #include <type_traits>
 
-#ifndef COMMON__TYPE_TRAITS_HPP_
-#define COMMON__TYPE_TRAITS_HPP_
+#ifndef AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_
+#define AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_
 
 namespace autoware
 {
@@ -219,4 +219,4 @@ struct intersect
 }  // namespace common
 }  // namespace autoware
 
-#endif  // COMMON__TYPE_TRAITS_HPP_
+#endif  // AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -0,0 +1,125 @@
+// Copyright 2017-2020 the Autoware Foundation, Arm Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+/// \file
+/// \brief This file includes common type definition
+
+#ifndef AUTOWARE_AUTO_COMMON__COMMON__TYPES_HPP_
+#define AUTOWARE_AUTO_COMMON__COMMON__TYPES_HPP_
+
+#include "autoware_auto_common/common/visibility_control.hpp"
+#include "autoware_auto_common/helper_functions/float_comparisons.hpp"
+
+#include <cstdint>
+#include <limits>
+#include <vector>
+
+namespace autoware
+{
+namespace common
+{
+namespace types
+{
+// Aliases to conform to MISRA C++ Rule 3-9-2 (Directive 4.6 in MISRA C).
+// Similarly, the stdint typedefs should be used instead of plain int, long etc. types.
+// We don't currently require code to comply to MISRA, but we should try to where it is
+// easily possible.
+using bool8_t = bool;
+using char8_t = char;
+using uchar8_t = unsigned char;
+// If we ever compile on a platform where this is not true, float32_t and float64_t definitions
+// need to be adjusted.
+static_assert(sizeof(float) == 4, "float is assumed to be 32-bit");
+using float32_t = float;
+static_assert(sizeof(double) == 8, "double is assumed to be 64-bit");
+using float64_t = double;
+
+/// pi = tau / 2
+constexpr float32_t PI = 3.14159265359F;
+/// pi/2
+constexpr float32_t PI_2 = 1.5707963267948966F;
+/// tau = 2 pi
+constexpr float32_t TAU = 6.283185307179586476925286766559F;
+
+struct COMMON_PUBLIC PointXYZIF
+{
+  float32_t x{0};
+  float32_t y{0};
+  float32_t z{0};
+  float32_t intensity{0};
+  uint16_t id{0};
+  static constexpr uint16_t END_OF_SCAN_ID = 65535u;
+  friend bool operator==(const PointXYZIF & p1, const PointXYZIF & p2) noexcept
+  {
+    using autoware::common::helper_functions::comparisons::rel_eq;
+    const auto epsilon = std::numeric_limits<float32_t>::epsilon();
+    return rel_eq(p1.x, p2.x, epsilon) && rel_eq(p1.y, p2.y, epsilon) &&
+           rel_eq(p1.z, p2.z, epsilon) && rel_eq(p1.intensity, p2.intensity, epsilon) &&
+           (p1.id == p2.id);
+  }
+};
+
+struct COMMON_PUBLIC PointXYZF
+{
+  float32_t x{0};
+  float32_t y{0};
+  float32_t z{0};
+  uint16_t id{0};
+  static constexpr uint16_t END_OF_SCAN_ID = 65535u;
+  friend bool operator==(const PointXYZF & p1, const PointXYZF & p2) noexcept
+  {
+    using autoware::common::helper_functions::comparisons::rel_eq;
+    const auto epsilon = std::numeric_limits<float32_t>::epsilon();
+    return rel_eq(p1.x, p2.x, epsilon) && rel_eq(p1.y, p2.y, epsilon) &&
+           rel_eq(p1.z, p2.z, epsilon) && (p1.id == p2.id);
+  }
+};
+
+struct COMMON_PUBLIC PointXYZI
+{
+  float32_t x{0.0F};
+  float32_t y{0.0F};
+  float32_t z{0.0F};
+  float32_t intensity{0.0F};
+  friend bool operator==(const PointXYZI & p1, const PointXYZI & p2) noexcept
+  {
+    return helper_functions::comparisons::rel_eq(
+             p1.x, p2.x, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.y, p2.y, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.z, p2.z, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.intensity, p2.intensity, std::numeric_limits<float32_t>::epsilon());
+  }
+};
+
+using PointBlock = std::vector<PointXYZIF>;
+using PointPtrBlock = std::vector<const PointXYZIF *>;
+/// \brief Stores basic configuration information, does some simple validity checking
+static constexpr uint16_t POINT_BLOCK_CAPACITY = 512U;
+
+// TODO(yunus.caliskan): switch to std::void_t when C++17 is available
+/// \brief `std::void_t<> implementation
+template <typename... Ts>
+using void_t = void;
+}  // namespace types
+}  // namespace common
+}  // namespace autoware
+
+#endif  // AUTOWARE_AUTO_COMMON__COMMON__TYPES_HPP_