diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml deleted file mode 100644 index 12a857998a..0000000000 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ /dev/null @@ -1,71 +0,0 @@ -name: Bug -description: Report a bug -body: - - type: checkboxes - attributes: - label: Checklist - description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. - options: - - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). - required: true - - label: I've searched other issues and no duplicate issues were found. - required: true - - label: I'm convinced that this is not my fault but a bug. - required: true - - - type: textarea - attributes: - label: Description - description: Write a brief description of the bug. - validations: - required: true - - - type: textarea - attributes: - label: Expected behavior - description: Describe the expected behavior. - validations: - required: true - - - type: textarea - attributes: - label: Actual behavior - description: Describe the actual behavior. - validations: - required: true - - - type: textarea - attributes: - label: Steps to reproduce - description: Write the steps to reproduce the bug. - placeholder: |- - 1. - 2. - 3. - validations: - required: true - - - type: textarea - attributes: - label: Versions - description: Provide the version information. You can omit this if you believe it's irrelevant. - placeholder: |- - - OS: - - ROS 2: - - Autoware: - validations: - required: false - - - type: textarea - attributes: - label: Possible causes - description: Write the possible causes if you have any ideas. - validations: - required: false - - - type: textarea - attributes: - label: Additional context - description: Add any other additional context if it exists. - validations: - required: false diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml deleted file mode 100644 index 48765c24a7..0000000000 --- a/.github/ISSUE_TEMPLATE/config.yml +++ /dev/null @@ -1,13 +0,0 @@ -blank_issues_enabled: false -contact_links: - - name: Question - url: https://github.com/autowarefoundation/autoware/discussions/new?category=q-a - about: Ask a question - - - name: Feature request - url: https://github.com/autowarefoundation/autoware/discussions/new?category=feature-requests - about: Send a feature request - - - name: Idea - url: https://github.com/autowarefoundation/autoware/discussions/new?category=ideas - about: Post an idea diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml deleted file mode 100644 index cd8322f507..0000000000 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ /dev/null @@ -1,42 +0,0 @@ -name: Task -description: Plan a task -body: - - type: checkboxes - attributes: - label: Checklist - description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. - options: - - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). - required: true - - label: I've searched other issues and no duplicate issues were found. - required: true - - label: I've agreed with the maintainers that I can plan this task. - required: true - - - type: textarea - attributes: - label: Description - description: Write a brief description of the task. - validations: - required: true - - - type: textarea - attributes: - label: Purpose - description: Describe the purpose of the task. - validations: - required: true - - - type: textarea - attributes: - label: Possible approaches - description: Describe possible approaches for the task. - validations: - required: true - - - type: textarea - attributes: - label: Definition of done - description: Write the definition of done for the task. - validations: - required: true diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 97b0e95452..e0864cce57 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -1,8 +1,55 @@ -**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request. +## PR Type -Click the `Preview` tab and select a PR template: + -- [Standard change](?expand=1&template=standard-change.md) -- [Small change](?expand=1&template=small-change.md) +- New Feature +- Improvement +- Bug Fix -**Do NOT send a PR with this description.** +## Related Links + + + +## Description + + + +## Review Procedure + + + +## Remarks + + + +## Pre-Review Checklist for the PR Author + +**PR Author should check the checkboxes below when creating the PR.** + +- [ ] Code follows [coding guidelines][coding-guidelines] +- [ ] Assign PR to reviewer + +## Checklist for the PR Reviewer + +**Reviewers should check the checkboxes below before approval.** + +- [ ] Commits are properly organized and messages are according to the guideline +- [ ] Code follows [coding guidelines][coding-guidelines] +- [ ] (Optional) Unit tests have been written for new behavior +- [ ] PR title describes the changes + +## Post-Review Checklist for the PR Author + +**PR Author should check the checkboxes below before merging.** + +- [ ] All open points are addressed and tracked via issues or tickets +- [ ] Write [release notes][release-notes] + +## CI Checks + +- **Build and test for PR**: Required to pass before the merge. +- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary. + +[coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4 +[release-notes]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416 +[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md deleted file mode 100644 index 7120f5212e..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ /dev/null @@ -1,27 +0,0 @@ -## Description - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md deleted file mode 100644 index cfdf7101b5..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ /dev/null @@ -1,42 +0,0 @@ -## Description - - - -## Related links - - - -## Tests performed - - - -## Notes for reviewers - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. -- [ ] The PR has been properly tested. -- [ ] The PR has been reviewed by the code owners. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. -- [ ] The PR is ready for merge. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/stale.yml b/.github/stale.yml deleted file mode 100644 index 84928d1b81..0000000000 --- a/.github/stale.yml +++ /dev/null @@ -1,12 +0,0 @@ -# Modified from https://github.com/probot/stale#usage - -# Number of days of inactivity before an Issue or Pull Request with the stale label is closed -daysUntilClose: false - -# Label to use when marking as stale -staleLabel: stale - -# Comment to post when marking as stale -markComment: > - This pull request has been automatically marked as stale because it has not had - recent activity. diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4deb334463..dad19011ef 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,17 +1,7 @@ - repository: autowarefoundation/autoware files: - - source: CODE_OF_CONDUCT.md - - source: CONTRIBUTING.md - - source: DISCLAIMER.md - - source: LICENSE - - source: .github/ISSUE_TEMPLATE/bug.yaml - - source: .github/ISSUE_TEMPLATE/config.yml - - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md - source: .github/dependabot.yaml - - source: .github/stale.yml + - source: .github/workflows/backport.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml @@ -31,3 +21,8 @@ - source: .github/workflows/build-and-test.yaml - source: .github/workflows/build-and-test-differential.yaml - source: .github/workflows/cancel-previous-workflows.yaml + +- repository: autowarefoundation/autoware_launch + files: + - source: .github/update-sync-param-files.py + - source: .github/workflows/update-sync-param-files.yaml diff --git a/.github/sync-launch-files.yaml b/.github/sync-launch-files.yaml new file mode 100644 index 0000000000..861381e272 --- /dev/null +++ b/.github/sync-launch-files.yaml @@ -0,0 +1,13 @@ +- repository: autowarefoundation/autoware_launch + files: + - source: autoware_launch/launch/autoware.launch.xml + - source: autoware_launch/launch/e2e_simulator.launch.xml + - source: autoware_launch/launch/logging_simulator.launch.xml + - source: autoware_launch/launch/planning_simulator.launch.xml + - source: autoware_launch/launch/pointcloud_container.launch.py + - source: autoware_launch/rviz/autoware.rviz + - source: autoware_launch/rviz/image/autoware.png + - source: autoware_launch/CMakeLists.txt + - source: autoware_launch/README.md + - source: autoware_launch/autoware_launch.drawio.svg + - source: autoware_launch/package.xml diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml index e1bdbd9cc4..1b18bda91c 100644 --- a/.github/sync-param-files.yaml +++ b/.github/sync-param-files.yaml @@ -3,92 +3,110 @@ # tier4_autoware_api_launch # tier4_control_launch + - source: launch/tier4_control_launch/config/common/nearest_search.param.yaml + dest: autoware_launch/config/tier4_control_launch/common/nearest_search.param.yaml + - source: launch/tier4_control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml + dest: autoware_launch/config/tier4_control_launch/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml - source: launch/tier4_control_launch/config/shift_decider/shift_decider.param.yaml dest: autoware_launch/config/tier4_control_launch/shift_decider/shift_decider.param.yaml - source: launch/tier4_control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml dest: autoware_launch/config/tier4_control_launch/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml - - source: launch/tier4_control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml - dest: autoware_launch/config/tier4_control_launch/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml - - source: launch/tier4_control_launch/config/obstacle_collision_checker/obstacle_collision_checker.param.yaml - dest: autoware_launch/config/tier4_control_launch/obstacle_collision_checker/obstacle_collision_checker.param.yaml - - source: launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml - dest: autoware_launch/config/tier4_control_launch/trajectory_follower/lateral_controller.param.yaml - source: launch/tier4_control_launch/config/trajectory_follower/longitudinal_controller.param.yaml dest: autoware_launch/config/tier4_control_launch/trajectory_follower/longitudinal_controller.param.yaml - - source: launch/tier4_control_launch/config/common/nearest_search.param.yaml - dest: autoware_launch/config/tier4_control_launch/common/nearest_search.param.yaml + - source: launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml + dest: autoware_launch/config/tier4_control_launch/trajectory_follower/lateral_controller.param.yaml + - source: launch/tier4_control_launch/config/obstacle_collision_checker/obstacle_collision_checker.param.yaml + dest: autoware_launch/config/tier4_control_launch/obstacle_collision_checker/obstacle_collision_checker.param.yaml # tier4_localization_launch + - source: launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml + dest: autoware_launch/config/tier4_localization_launch/ndt_scan_matcher.param.yaml - source: launch/tier4_localization_launch/config/localization_error_monitor.param.yaml dest: autoware_launch/config/tier4_localization_launch/localization_error_monitor.param.yaml - source: launch/tier4_localization_launch/config/random_downsample_filter.param.yaml dest: autoware_launch/config/tier4_localization_launch/random_downsample_filter.param.yaml - - source: launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml - dest: autoware_launch/config/tier4_localization_launch/ndt_scan_matcher.param.yaml - source: launch/tier4_localization_launch/config/crop_box_filter_measurement_range.param.yaml dest: autoware_launch/config/tier4_localization_launch/crop_box_filter_measurement_range.param.yaml - source: launch/tier4_localization_launch/config/voxel_grid_filter.param.yaml dest: autoware_launch/config/tier4_localization_launch/voxel_grid_filter.param.yaml # tier4_map_launch + - source: launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml + dest: autoware_launch/config/tier4_map_launch/pointcloud_map_loader.param.yaml # tier4_perception_launch - - source: launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml - dest: autoware_launch/config/tier4_perception_launch/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml - source: launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml dest: autoware_launch/config/tier4_perception_launch/object_recognition/detection/object_position_filter.param.yaml - - source: launch/tier4_perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml - dest: autoware_launch/config/tier4_perception_launch/object_recognition/detection/pointcloud_map_filter.param.yaml - source: launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml dest: autoware_launch/config/tier4_perception_launch/object_recognition/detection/object_lanelet_filter.param.yaml + - source: launch/tier4_perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml + dest: autoware_launch/config/tier4_perception_launch/object_recognition/detection/pointcloud_map_filter.param.yaml + - source: launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml + dest: autoware_launch/config/tier4_perception_launch/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml - source: launch/tier4_perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml dest: autoware_launch/config/tier4_perception_launch/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml # tier4_planning_launch + - source: launch/tier4_planning_launch/config/scenario_planning/common/common.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/common.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/nearest_search.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/nearest_search.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/L2.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml + - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml + dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -97,24 +115,8 @@ dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml - source: launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml dest: autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/common.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/common.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/nearest_search.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/nearest_search.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/L2.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml - - source: launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml - dest: autoware_launch/config/tier4_planning_launch/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml # tier4_sensing_launch @@ -123,33 +125,33 @@ dest: autoware_launch/config/tier4_simulator_launch/fault_injection.param.yaml # tier4_system_launch - - source: launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/voltage_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/cpu_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/cpu_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/process_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/process_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/hdd_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/ntp_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/ntp_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/gpu_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/gpu_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/mem_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/mem_monitor.param.yaml - - source: launch/tier4_system_launch/config/system_monitor/net_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/system_monitor/net_monitor.param.yaml - - source: launch/tier4_system_launch/config/ad_service_state_monitor/ad_service_state_monitor.planning_simulation.param.yaml - dest: autoware_launch/config/tier4_system_launch/ad_service_state_monitor/ad_service_state_monitor.planning_simulation.param.yaml - - source: launch/tier4_system_launch/config/ad_service_state_monitor/ad_service_state_monitor.param.yaml - dest: autoware_launch/config/tier4_system_launch/ad_service_state_monitor/ad_service_state_monitor.param.yaml - source: launch/tier4_system_launch/config/emergency_handler/emergency_handler.param.yaml dest: autoware_launch/config/tier4_system_launch/emergency_handler/emergency_handler.param.yaml + - source: launch/tier4_system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml + dest: autoware_launch/config/tier4_system_launch/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml + - source: launch/tier4_system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml + dest: autoware_launch/config/tier4_system_launch/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml - source: launch/tier4_system_launch/config/system_error_monitor/system_error_monitor.param.yaml dest: autoware_launch/config/tier4_system_launch/system_error_monitor/system_error_monitor.param.yaml - source: launch/tier4_system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml dest: autoware_launch/config/tier4_system_launch/system_error_monitor/system_error_monitor.planning_simulation.param.yaml - source: launch/tier4_system_launch/config/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml dest: autoware_launch/config/tier4_system_launch/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/gpu_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/gpu_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/ntp_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/ntp_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/mem_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/mem_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/voltage_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/net_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/net_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/process_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/process_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/cpu_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/cpu_monitor.param.yaml + - source: launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml + dest: autoware_launch/config/tier4_system_launch/system_monitor/hdd_monitor.param.yaml # tier4_vehicle_launch diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml new file mode 100644 index 0000000000..7a9d63f79c --- /dev/null +++ b/.github/workflows/backport.yaml @@ -0,0 +1,33 @@ +name: backport +on: + pull_request_target: + types: + - closed + - labeled + +jobs: + backport: + runs-on: ubuntu-latest + # Only react to merged PRs for security reasons. + # See https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows#pull_request_target. + if: > + github.event.pull_request.merged + && ( + github.event.action == 'closed' + || ( + github.event.action == 'labeled' + && contains(github.event.label.name, 'backport') + ) + ) + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - uses: tibdex/backport@v2 + with: + github_token: ${{ steps.generate-token.outputs.token }} + title_template: "<%= title %> (backport #<%= number %>)" diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml deleted file mode 100644 index 01132cd0df..0000000000 --- a/.github/workflows/check-build-depends.yaml +++ /dev/null @@ -1,41 +0,0 @@ -name: check-build-depends - -on: - pull_request: - paths: - - build_depends*.repos - -jobs: - check-build-depends: - runs-on: ubuntu-latest - container: ${{ matrix.container }} - strategy: - fail-fast: false - matrix: - rosdistro: - - galactic - - humble - include: - - rosdistro: galactic - container: ros:galactic - build-depends-repos: build_depends.repos - - rosdistro: humble - container: ros:humble - build-depends-repos: build_depends.repos - steps: - - name: Check out repository - uses: actions/checkout@v3 - - - name: Remove exec_depend - uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 - - - name: Get self packages - id: get-self-packages - uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 - - - name: Build - uses: autowarefoundation/autoware-github-actions/colcon-build@v1 - with: - rosdistro: ${{ matrix.rosdistro }} - target-packages: ${{ steps.get-self-packages.outputs.self-packages }} - build-depends-repos: ${{ matrix.build-depends-repos }} diff --git a/.github/workflows/sync-awf-autoware-launch.yaml b/.github/workflows/sync-awf-autoware-launch.yaml new file mode 100644 index 0000000000..3bf43c6c21 --- /dev/null +++ b/.github/workflows/sync-awf-autoware-launch.yaml @@ -0,0 +1,31 @@ +name: sync-awf-autoware-launch + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest + sync-pr-branch: sync-awf-autoware-launch + sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git + sync-target-branch: main + pr-title: "chore: sync awf/autoware_launch" + pr-labels: | + bot + sync-awf-autoware-launch + auto-merge-method: merge diff --git a/.github/workflows/sync-awf-latest-s1.yaml b/.github/workflows/sync-awf-latest-s1.yaml new file mode 100644 index 0000000000..f34ce0ffa6 --- /dev/null +++ b/.github/workflows/sync-awf-latest-s1.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest-s1 + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest-s1: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest-s1 + sync-pr-branch: sync-awf-latest-s1 + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest-s1" + pr-labels: | + bot + sync-awf-latest-s1 + auto-merge-method: merge diff --git a/.github/workflows/sync-awf-latest-x1.yaml b/.github/workflows/sync-awf-latest-x1.yaml new file mode 100644 index 0000000000..c51a13e917 --- /dev/null +++ b/.github/workflows/sync-awf-latest-x1.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest-x1 + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest-x1: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest-x1 + sync-pr-branch: sync-awf-latest-x1 + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest-x1" + pr-labels: | + bot + sync-awf-latest-x1 + auto-merge-method: merge diff --git a/.github/workflows/sync-awf-latest-x2.yaml b/.github/workflows/sync-awf-latest-x2.yaml new file mode 100644 index 0000000000..910c5e8598 --- /dev/null +++ b/.github/workflows/sync-awf-latest-x2.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest-x2 + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest-x2: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest-x2 + sync-pr-branch: sync-awf-latest-x2 + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest-x2" + pr-labels: | + bot + sync-awf-latest-x2 + auto-merge-method: merge diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml new file mode 100644 index 0000000000..f6d9da8591 --- /dev/null +++ b/.github/workflows/sync-awf-latest-xx1.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest-xx1 + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest-xx1: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest-xx1 + sync-pr-branch: sync-awf-latest-xx1 + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest-xx1" + pr-labels: | + bot + sync-awf-latest-xx1 + auto-merge-method: merge diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml new file mode 100644 index 0000000000..6f905ef9e8 --- /dev/null +++ b/.github/workflows/sync-awf-latest.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest: + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-awf-latest + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest" + pr-labels: | + bot + sync-awf-latest + auto-merge-method: merge diff --git a/.github/workflows/sync-launch-files.yaml b/.github/workflows/sync-launch-files.yaml new file mode 100644 index 0000000000..1c54e26f3e --- /dev/null +++ b/.github/workflows/sync-launch-files.yaml @@ -0,0 +1,37 @@ +name: sync-launch-files + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + sync-files: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + 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@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + config: .github/sync-launch-files.yaml + pr-branch: sync-launch-files + pr-title: "chore: sync launch files" + pr-commit-message: "chore: sync launch files" + pr-labels: | + bot + sync-launch-files + auto-merge-method: squash diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000..66eb180976 --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,31 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 0 * * * + 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@v1 + 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" + pr-labels: | + bot + sync-upstream + auto-merge-method: merge diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b0ebde39f7..bb390fbd4a 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,5 +1,5 @@ ci: - autofix_commit_msg: "style(pre-commit): autofix" + autofix_commit_msg: "ci(pre-commit): autofix" autoupdate_commit_msg: "ci(pre-commit): autoupdate" repos: @@ -37,10 +37,7 @@ repos: rev: v0.7.1 hooks: - id: flake8-ros - - id: prettier-xacro - - id: prettier-launch-xml - id: prettier-package-xml - - id: ros-include-guard - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md deleted file mode 100644 index c493cad4da..0000000000 --- a/CODE_OF_CONDUCT.md +++ /dev/null @@ -1,132 +0,0 @@ -# Contributor Covenant Code of Conduct - -## Our Pledge - -We as members, contributors, and leaders pledge to make participation in our -community a harassment-free experience for everyone, regardless of age, body -size, visible or invisible disability, ethnicity, sex characteristics, gender -identity and expression, level of experience, education, socio-economic status, -nationality, personal appearance, race, caste, color, religion, or sexual -identity and orientation. - -We pledge to act and interact in ways that contribute to an open, welcoming, -diverse, inclusive, and healthy community. - -## Our Standards - -Examples of behavior that contributes to a positive environment for our -community include: - -- Demonstrating empathy and kindness toward other people -- Being respectful of differing opinions, viewpoints, and experiences -- Giving and gracefully accepting constructive feedback -- Accepting responsibility and apologizing to those affected by our mistakes, - and learning from the experience -- Focusing on what is best not just for us as individuals, but for the overall - community - -Examples of unacceptable behavior include: - -- The use of sexualized language or imagery, and sexual attention or advances of - any kind -- Trolling, insulting or derogatory comments, and personal or political attacks -- Public or private harassment -- Publishing others' private information, such as a physical or email address, - without their explicit permission -- Other conduct which could reasonably be considered inappropriate in a - professional setting - -## Enforcement Responsibilities - -Community leaders are responsible for clarifying and enforcing our standards of -acceptable behavior and will take appropriate and fair corrective action in -response to any behavior that they deem inappropriate, threatening, offensive, -or harmful. - -Community leaders have the right and responsibility to remove, edit, or reject -comments, commits, code, wiki edits, issues, and other contributions that are -not aligned to this Code of Conduct, and will communicate reasons for moderation -decisions when appropriate. - -## Scope - -This Code of Conduct applies within all community spaces, and also applies when -an individual is officially representing the community in public spaces. -Examples of representing our community include using an official e-mail address, -posting via an official social media account, or acting as an appointed -representative at an online or offline event. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported to the community leaders responsible for enforcement at -conduct@autoware.org. -All complaints will be reviewed and investigated promptly and fairly. - -All community leaders are obligated to respect the privacy and security of the -reporter of any incident. - -## Enforcement Guidelines - -Community leaders will follow these Community Impact Guidelines in determining -the consequences for any action they deem in violation of this Code of Conduct: - -### 1. Correction - -**Community Impact**: Use of inappropriate language or other behavior deemed -unprofessional or unwelcome in the community. - -**Consequence**: A private, written warning from community leaders, providing -clarity around the nature of the violation and an explanation of why the -behavior was inappropriate. A public apology may be requested. - -### 2. Warning - -**Community Impact**: A violation through a single incident or series of -actions. - -**Consequence**: A warning with consequences for continued behavior. No -interaction with the people involved, including unsolicited interaction with -those enforcing the Code of Conduct, for a specified period of time. This -includes avoiding interactions in community spaces as well as external channels -like social media. Violating these terms may lead to a temporary or permanent -ban. - -### 3. Temporary Ban - -**Community Impact**: A serious violation of community standards, including -sustained inappropriate behavior. - -**Consequence**: A temporary ban from any sort of interaction or public -communication with the community for a specified period of time. No public or -private interaction with the people involved, including unsolicited interaction -with those enforcing the Code of Conduct, is allowed during this period. -Violating these terms may lead to a permanent ban. - -### 4. Permanent Ban - -**Community Impact**: Demonstrating a pattern of violation of community -standards, including sustained inappropriate behavior, harassment of an -individual, or aggression toward or disparagement of classes of individuals. - -**Consequence**: A permanent ban from any sort of public interaction within the -community. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], -version 2.1, available at -[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1]. - -Community Impact Guidelines were inspired by -[Mozilla's code of conduct enforcement ladder][mozilla coc]. - -For answers to common questions about this code of conduct, see the FAQ at -[https://www.contributor-covenant.org/faq][faq]. Translations are available at -[https://www.contributor-covenant.org/translations][translations]. - -[homepage]: https://www.contributor-covenant.org -[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html -[mozilla coc]: https://github.com/mozilla/diversity -[faq]: https://www.contributor-covenant.org/faq -[translations]: https://www.contributor-covenant.org/translations diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md deleted file mode 100644 index 22c7ee28e8..0000000000 --- a/CONTRIBUTING.md +++ /dev/null @@ -1,3 +0,0 @@ -# Contributing - -See . diff --git a/DISCLAIMER.md b/DISCLAIMER.md deleted file mode 100644 index 1b5a9bbe4d..0000000000 --- a/DISCLAIMER.md +++ /dev/null @@ -1,46 +0,0 @@ -DISCLAIMER - -“Autoware” will be provided by The Autoware Foundation under the Apache License 2.0. -This “DISCLAIMER” will be applied to all users of Autoware (a “User” or “Users”) with -the Apache License 2.0 and Users shall hereby approve and acknowledge all the contents -specified in this disclaimer below and will be deemed to consent to this -disclaimer without any objection upon utilizing or downloading Autoware. - -Disclaimer and Waiver of Warranties - -1. AUTOWARE FOUNDATION MAKES NO REPRESENTATION OR WARRANTY OF ANY KIND, - EXPRESS OR IMPLIED, WITH RESPECT TO PROVIDING AUTOWARE (the “Service”) - including but not limited to any representation or warranty (i) of fitness or - suitability for a particular purpose contemplated by the Users, (ii) of the - expected functions, commercial value, accuracy, or usefulness of the Service, - (iii) that the use by the Users of the Service complies with the laws and - regulations applicable to the Users or any internal rules established by - industrial organizations, (iv) that the Service will be free of interruption or - defects, (v) of the non-infringement of any third party's right and (vi) the - accuracy of the content of the Services and the software itself. - -2. The Autoware Foundation shall not be liable for any damage incurred by the - User that are attributable to the Autoware Foundation for any reasons - whatsoever. UNDER NO CIRCUMSTANCES SHALL THE AUTOWARE FOUNDATION BE LIABLE FOR - INCIDENTAL, INDIRECT, SPECIAL OR FUTURE DAMAGES OR LOSS OF PROFITS. - -3. A User shall be entirely responsible for the content posted by the User and - its use of any content of the Service or the Website. If the User is held - responsible in a civil action such as a claim for damages or even in a criminal - case, the Autoware Foundation and member companies, governments and academic & - non-profit organizations and their directors, officers, employees and agents - (collectively, the “Indemnified Parties”) shall be completely discharged from - any rights or assertions the User may have against the Indemnified Parties, or - from any legal action, litigation or similar procedures. - -Indemnity - -A User shall indemnify and hold the Indemnified Parties harmless from any of -their damages, losses, liabilities, costs or expenses (including attorneys' -fees or criminal compensation), or any claims or demands made against the -Indemnified Parties by any third party, due to or arising out of, or in -connection with utilizing Autoware (including the representations and -warranties), the violation of applicable Product Liability Law of each country -(including criminal case) or violation of any applicable laws by the Users, or -the content posted by the User or its use of any content of the Service or the -Website. diff --git a/NOTICE b/NOTICE deleted file mode 100644 index 102575d7d8..0000000000 --- a/NOTICE +++ /dev/null @@ -1,8 +0,0 @@ -autowarefoundation/autoware_launch -Copyright 2021 The Autoware Foundation - -This product includes software developed at -The Autoware Foundation (https://www.autoware.org/). - -This product includes code developed by TIER IV. -Copyright 2020 TIER IV, Inc. diff --git a/README.md b/README.md index 45153ea612..dc6f607866 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,23 @@ -# autoware_launch +# autoware_launcher -A launch configuration repository for [Autoware](https://github.com/autowarefoundation/autoware), containing node configurations and their parameters. +## Getting started + +### Using real vehicle + +```bash +ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name] +``` + +### Using planning simulator + +```bash +ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name] +``` + +## Directory structure + +- [autoware_launch](./autoware_launch) +- [control_launch](./control_launch) +- [integration_launch](./integration_launch) +- [planning_launch](./planning_launch) +- [system_launch](./system_launch) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index f3819f155e..4b4f348a5a 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - # -- system -- traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index b6e1c3a38c..bc3213081d 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -5,19 +5,19 @@ enable_smooth_stop: true enable_overshoot_emergency: true enable_large_tracking_error_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.5 stopped_state_entry_duration_time: 0.1 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 @@ -38,7 +38,7 @@ # smooth stop state smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 + smooth_stop_min_strong_acc: -0.8 smooth_stop_weak_acc: -0.3 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 @@ -72,15 +72,3 @@ 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/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 0eb88ce2fc..e38f75a3f8 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -49,7 +49,6 @@ num_threads: 4 # The covariance of output pose - # Do note that this covariance matrix is empirically derived output_pose_covariance: [ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -63,11 +62,5 @@ # Regularization switch regularization_enabled: false - # regularization scale factor + # Regularization scale factor regularization_scale_factor: 0.01 - - # A flag for using scan matching score based on de-grounded LiDAR scan - estimate_scores_for_degrounded_scan: false - - # If lidar_point.z - base_link.z <= this threshold , the point will be removed - z_margin_for_ground_removal: 0.8 diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml deleted file mode 100644 index 8f3ccbff00..0000000000 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - enable_whole_load: true - enable_downsampled_whole_load: false - enable_partial_load: false - enable_differential_load: false - - # only used when downsample_whole_load enabled - leaf_size: 3.0 # downsample leaf size [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index e42f188a62..40de19bd6c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -6,6 +6,8 @@ resample_interval_for_output: 4.0 # [m] detection_area_right_expand_dist: 0.0 # [m] detection_area_left_expand_dist: 1.0 # [m] + drivable_area_right_bound_offset: 0.0 # [m] + drivable_area_left_bound_offset: 0.0 # [m] object_envelope_buffer: 0.3 # [m] # avoidance module common setting diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index fbe6b5d756..a18e531806 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -148,9 +148,6 @@ num: 3 radius_ratio: 0.8 - fitting_uniform_circle: - num: 3 # must be greater than 1 - rear_drive: num_for_calculation: 3 front_radius_ratio: 1.0 diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml new file mode 100644 index 0000000000..1a57b852f7 --- /dev/null +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -0,0 +1,37 @@ +/**: + ros__parameters: + event_diag_list: + vehicle_is_out_of_lane: "lane_departure" + trajectory_deviation_is_high: "trajectory_deviation" + localization_matching_score_is_low: "ndt_scan_matcher" + localization_accuracy_is_low: "localization_accuracy" + map_version_is_different: "map_version" + trajectory_is_invalid: "trajectory_point_validation" + cpu_temperature_is_high: "CPU Temperature" + cpu_usage_is_high: "CPU Usage" + cpu_is_in_thermal_throttling: "CPU Thermal Throttling" + storage_temperature_is_high: "HDD Temperature" + storage_usage_is_high: "HDD Usage" + network_usage_is_high: "Network Usage" + clock_error_is_large: "NTP Offset" + gpu_temperature_is_high: "GPU Temperature" + gpu_usage_is_high: "GPU Usage" + gpu_memory_usage_is_high: "GPU Memory Usage" + gpu_is_in_thermal_throttling: "GPU Thermal Throttling" + driving_recorder_storage_error: "driving_recorder" + debug_data_logger_storage_error: "bagpacker" + emergency_stop_operation: "emergency_stop_operation" + vehicle_error_occurred: "vehicle_errors" + vehicle_ecu_connection_is_lost: "can_bus_connection" + obstacle_crash_sensor_is_activated: "obstacle_crash" + /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat" + /control/autonomous_driving/node_alive_monitoring: "control_topic_status" + /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat" + /localization/node_alive_monitoring: "localization_topic_status" + /map/node_alive_monitoring: "map_topic_status" + /planning/node_alive_monitoring: "planning_topic_status" + /sensing/lidar/node_alive_monitoring: "lidar_topic_status" + /sensing/imu/node_alive_monitoring: "imu_connection" + /sensing/gnss/node_alive_monitoring: "gnss_connection" + /system/node_alive_monitoring: "system_topic_status" + /vehicle/node_alive_monitoring: "vehicle_topic_status" diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml deleted file mode 100644 index d72b8d1334..0000000000 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: ["*"] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 1 - reassembles_failed_check_count: 1 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index c11f751389..c848c487a6 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -26,15 +26,14 @@ - - + - + @@ -60,21 +59,21 @@ + - + - - + @@ -85,25 +84,22 @@ - + - - - - + - + @@ -133,7 +129,7 @@ - + @@ -145,9 +141,8 @@ - - - - + + + diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bdc6a9229b..ccc1527fb0 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,5 +1,9 @@ - - - + + + + + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index e028751072..7ef5fa06fc 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,11 +1,7 @@ - - - - - + diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml deleted file mode 100644 index cba9c3c0a2..0000000000 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index fb8b94083f..07dc260100 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -54,7 +54,7 @@ /> - + - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml deleted file mode 100644 index 7ee6712175..0000000000 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 3d7745d5f7..50d7425bf0 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -24,10 +24,6 @@ - - - - @@ -58,12 +54,9 @@ - - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 083010298e..62fc034a6e 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -9,10 +9,6 @@ - - - - @@ -45,12 +41,9 @@ - - - diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 9d8606dc6e..4cc04cc4f4 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -5,14 +5,18 @@ The autoware_launch package Yukihiro Saito + Takagi, Isamu Apache License 2.0 ament_cmake_auto + ad_api_adaptors global_parameter_loader python3-bson python3-tornado rviz2 + system_launch + tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch @@ -20,7 +24,6 @@ tier4_planning_launch tier4_sensing_launch tier4_simulator_launch - tier4_system_launch tier4_vehicle_launch ament_lint_auto diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 485f6ddb17..d32fe7d3d5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -365,7 +365,6 @@ Visualization Manager: pedestrian_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true stop_lines: true shoulder_center_lane_line: false shoulder_left_lane_bound: true @@ -1103,20 +1102,29 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_plugins/Path + Color Border Vel Max: 3 Enabled: true - Name: Bound - Namespaces: - left_bound: true - right_bound: true + Name: PathChangeCandidate_PullOver Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: /planning/path_candidate/pull_over Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1143,6 +1151,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (DetectionArea) @@ -1252,18 +1272,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (SpeedBump) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump - Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -1292,6 +1300,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Walkway + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Intersection @@ -1472,18 +1492,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: SpeedBump - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump - Value: false Enabled: false Name: DebugMarker Enabled: true @@ -1551,10 +1559,62 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: true + Name: ObstacleCruise - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1610,18 +1670,6 @@ Visualization Manager: Value: false Enabled: true Name: SurroundObstacleChecker - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: ObstacleAvoidance diff --git a/build_depends.repos b/build_depends.repos index ec3fecccd6..5e650722cd 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -1,5 +1,5 @@ repositories: - autoware_common: + tier4_ament_lint: type: git - url: https://github.com/autowarefoundation/autoware_common.git + url: https://github.com/tier4/tier4_ament_lint.git version: main diff --git a/system_launch/CMakeLists.txt b/system_launch/CMakeLists.txt new file mode 100644 index 0000000000..656e60c6d0 --- /dev/null +++ b/system_launch/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5) +project(system_launch) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/system_launch/README.md b/system_launch/README.md new file mode 100644 index 0000000000..793c045fc9 --- /dev/null +++ b/system_launch/README.md @@ -0,0 +1,17 @@ +# system_launch + +## Structure + +![system_launch](./system_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +```xml + + + +``` diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/system_launch/config/component_state_monitor/topics.yaml similarity index 100% rename from autoware_launch/config/system/component_state_monitor/topics.yaml rename to system_launch/config/component_state_monitor/topics.yaml diff --git a/system_launch/config/diagnostic_aggregator/system.param.yaml b/system_launch/config/diagnostic_aggregator/system.param.yaml new file mode 100644 index 0000000000..27cbe3fed2 --- /dev/null +++ b/system_launch/config/diagnostic_aggregator/system.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + system: + type: diagnostic_aggregator/AnalyzerGroup + path: system + analyzers: + debug_data_logger: + type: diagnostic_aggregator/AnalyzerGroup + path: debug_data_logger + analyzers: + storage_error: + type: diagnostic_aggregator/GenericAnalyzer + path: storage_error + contains: ["bagpacker"] + timeout: 3.0 diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/system_launch/config/diagnostic_aggregator/vehicle.param.yaml similarity index 100% rename from autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml rename to system_launch/config/diagnostic_aggregator/vehicle.param.yaml diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/system_launch/config/emergency_handler/emergency_handler.param.yaml similarity index 86% rename from autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml rename to system_launch/config/emergency_handler/emergency_handler.param.yaml index 652a984ce5..76ea50719a 100644 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ b/system_launch/config/emergency_handler/emergency_handler.param.yaml @@ -1,5 +1,3 @@ -# Default configuration for emergency handler ---- /**: ros__parameters: update_rate: 10 diff --git a/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml similarity index 100% rename from autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml rename to system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml similarity index 100% rename from autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml rename to system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml rename to system_launch/config/system_error_monitor.param.yaml diff --git a/system_launch/config/system_error_monitor/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor/system_error_monitor.param.yaml new file mode 100644 index 0000000000..b9a5a4fa79 --- /dev/null +++ b/system_launch/config/system_error_monitor/system_error_monitor.param.yaml @@ -0,0 +1,50 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/control_command_gate/node_alive_monitoring: default + + /autoware/localization/node_alive_monitoring: default + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_accuracy: default + + /autoware/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + /autoware/sensing/node_alive_monitoring: default + + /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/vehicle/node_alive_monitoring: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + + /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml similarity index 78% rename from autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml rename to system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 9708456df4..27fd3c1e4d 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -1,4 +1,3 @@ -# Description: # name: diag name # sf_at: diag level where it becomes Safe Fault # lf_at: diag level where it becomes Latent Fault @@ -22,8 +21,8 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_accuracy: default + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default @@ -36,8 +35,7 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default @@ -47,6 +45,5 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml b/system_launch/config/system_monitor/cpu_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml rename to system_launch/config/system_monitor/cpu_monitor.param.yaml diff --git a/autoware_launch/config/system/system_monitor/gpu_monitor.param.yaml b/system_launch/config/system_monitor/gpu_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/gpu_monitor.param.yaml rename to system_launch/config/system_monitor/gpu_monitor.param.yaml diff --git a/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml b/system_launch/config/system_monitor/hdd_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml rename to system_launch/config/system_monitor/hdd_monitor.param.yaml diff --git a/autoware_launch/config/system/system_monitor/mem_monitor.param.yaml b/system_launch/config/system_monitor/mem_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/mem_monitor.param.yaml rename to system_launch/config/system_monitor/mem_monitor.param.yaml diff --git a/system_launch/config/system_monitor/net_monitor.param.yaml b/system_launch/config/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..cb7e1b4838 --- /dev/null +++ b/system_launch/config/system_monitor/net_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + devices: ["*"] + traffic_reader_port: 7636 + monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 1 + reassembles_failed_check_count: 1 diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/system_launch/config/system_monitor/ntp_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml rename to system_launch/config/system_monitor/ntp_monitor.param.yaml diff --git a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml b/system_launch/config/system_monitor/process_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/process_monitor.param.yaml rename to system_launch/config/system_monitor/process_monitor.param.yaml diff --git a/autoware_launch/config/system/system_monitor/voltage_monitor.param.yaml b/system_launch/config/system_monitor/voltage_monitor.param.yaml similarity index 100% rename from autoware_launch/config/system/system_monitor/voltage_monitor.param.yaml rename to system_launch/config/system_monitor/voltage_monitor.param.yaml diff --git a/system_launch/launch/dummy_diag_publisher/control.launch.xml b/system_launch/launch/dummy_diag_publisher/control.launch.xml new file mode 100644 index 0000000000..b93a93d927 --- /dev/null +++ b/system_launch/launch/dummy_diag_publisher/control.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/system_launch/launch/dummy_diag_publisher/localization.launch.xml b/system_launch/launch/dummy_diag_publisher/localization.launch.xml new file mode 100644 index 0000000000..19f70a723d --- /dev/null +++ b/system_launch/launch/dummy_diag_publisher/localization.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/system_launch/launch/dummy_diag_publisher/system.launch.xml b/system_launch/launch/dummy_diag_publisher/system.launch.xml new file mode 100644 index 0000000000..e56227a7a4 --- /dev/null +++ b/system_launch/launch/dummy_diag_publisher/system.launch.xml @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml new file mode 100644 index 0000000000..3848c9e7e9 --- /dev/null +++ b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml new file mode 100644 index 0000000000..7360aadb0a --- /dev/null +++ b/system_launch/launch/system.launch.xml @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/system_launch/package.xml b/system_launch/package.xml new file mode 100644 index 0000000000..9d3e90ad2d --- /dev/null +++ b/system_launch/package.xml @@ -0,0 +1,24 @@ + + + + system_launch + 0.1.0 + The system_launch package + + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + + component_state_monitor + emergency_handler + system_error_monitor + system_monitor + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/system_launch/system_launch.drawio.svg b/system_launch/system_launch.drawio.svg new file mode 100644 index 0000000000..334012a85b --- /dev/null +++ b/system_launch/system_launch.drawio.svg @@ -0,0 +1,308 @@ + + + + + + + + + + + + + + + +
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