chore: sync upstream

.cspell.json

@@ -0,0 +1,3 @@
+{
+  "words": ["ISCLOAM", "georeferenced", "MGRS"]
+}

.github/dependabot.yaml

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

.github/stale.yml

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

.github/workflows/deploy-docs.yaml

@@ -22,7 +22,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: deploy-docs
+      label: tag:deploy-docs
 
   deploy-docs:
     needs: prevent-no-label-execution

.github/workflows/github-release.yaml

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

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

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

.github/workflows/pre-commit.yaml

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

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

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

.github/workflows/sync-files.yaml

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

.markdownlint.yaml

@@ -5,6 +5,7 @@ MD024:
   siblings_only: true
 MD029:
   style: ordered
+MD030: false
 MD033: false
 MD041: false
 MD046: false

README.md

@@ -1,7 +1,13 @@
 # Autoware documentation
 
-- This repository contains the [MkDocs](https://www.mkdocs.org/) source files for the [Autoware documentation hosted on GitHub Pages](https://autowarefoundation.github.io/autoware-documentation/main/).
-- Since Autoware is made up of [multiple repositories](https://github.com/autowarefoundation/), a central documentation repository is important to make information accessible from a single place.
+Welcome to the Autoware Documentation! This repository is specifically designed to manage the source files for Autoware's documentation. If you wish to access the actual documentation, please visit [this link](https://autowarefoundation.github.io/autoware-documentation/main/).
+
+![autoware_front_image](docs/assets/images/autoware_front_image.png)
+
+## Notation
+
+- This source is deployed using [MKDocs](https://www.mkdocs.org/).
+- Autoware consists of [multiple repositories](https://github.com/autowarefoundation/), and this documentation serves as a central hub to access information from each of them.
 - For more information about Autoware and its related repositories, refer to the [Autoware Foundation's organization profile](https://github.com/autowarefoundation/.github/blob/main/profile/README.md).
 
 ## Contributions

docs/.pages

@@ -7,5 +7,6 @@ nav:
   - Reference HW: reference-hw
   - contributing
   - datasets
+  - models
   - support
   - Competitions: autoware-competitions

docs/autoware-competitions/index.md

@@ -2,10 +2,11 @@
 
 This page is a collection of the links to the competitions that are related to the Autoware Foundation.
 
-|                             Title                             | Status  | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| :-----------------------------------------------------------: | :-----: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <img src="images/autoware_challenge_2023.png" width = 640px > | Ongoing | **[Autoware / TIER IV Challenge 2023](https://autoware.org/autoware-challenge-2023)** <br> **Date:** May 15, 2023 - Nov. 1st, 2023 <br><br> As one of the main contributors of Autoware, TIER IV has been facing many difficult challenges through development, and TIER IV would like to sponsor a challenge to solve such engineering challenges. Any researchers, students, individuals or organizations are welcome to participate and submit their solution to any of the challenges we propose.                                                                                                                                                                                       |
-|    <img src="images/ai_challenge_2023.png" width = 640px >    | Ongoing | **[Japan Automotive AI Challenge 2023](https://www.jsae.or.jp/jaaic/)** <br> **Registration:** June 5, 2023 - July 14, 2023 <br>**Qualifiers:** July 3, 2023 - Aug. 31, 2023 <br>**Finals:** Nov. 12, 2023<br><br> In this competition, we focus on challenging tasks posed by autonomous driving in factory environments and aim to develop Autoware-based AD software that can overcome them. The qualifiers use the [digital twin autonomous driving simulator AWSIM](https://tier4.github.io/AWSIM/) to complete specific tasks within a virtual environment. Teams that make it to the finals have the opportunity to run their software on actual vehicles in a test course in Japan. |
+|                             Title                             |  Status  | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
+| :-----------------------------------------------------------: | :------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <img src="images/autoware_challenge_2023.png" width = 640px > | Ongoing  | **[Autoware / TIER IV Challenge 2023](https://autoware.org/autoware-challenge-2023)** <br> **Date:** May 15, 2023 - Nov. 1st, 2023 <br><br> As one of the main contributors of Autoware, TIER IV has been facing many difficult challenges through development, and TIER IV would like to sponsor a challenge to solve such engineering challenges. Any researchers, students, individuals or organizations are welcome to participate and submit their solution to any of the challenges we propose.                                                                                                                                                                                                                     |
+|    <img src="images/ai_challenge_2023.png" width = 640px >    | Finished | **[Japan Automotive AI Challenge 2023 (Integration)](https://www.jsae.or.jp/jaaic/2023_summary.php)** <br> **Registration:** June 5, 2023 - July 14, 2023 <br>**Qualifiers:** July 3, 2023 - Aug. 31, 2023 <br>**Finals:** Nov. 12, 2023<br><br> In this competition, we focus on challenging tasks posed by autonomous driving in factory environments and aim to develop Autoware-based AD software that can overcome them. The qualifiers use the [digital twin autonomous driving simulator AWSIM](https://tier4.github.io/AWSIM/) to complete specific tasks within a virtual environment. Teams that make it to the finals have the opportunity to run their software on actual vehicles in a test course in Japan. |
+| <img src="images/ai_challenge2023-racing.jpg" width = 640px > | Ongoing  | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)** <br> **Registration:** Nov 6, 2023 - Dec 28, 2023 <br>**Date:** Dec 4, 2023 - Jan. 31, 2024 <br><br> This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware.Universe](https://github.com/autowarefoundation/autoware.universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely!                                                                                                                                        |
 
 ## Proposing New Competition
 

docs/contributing/coding-guidelines/index.md

@@ -14,6 +14,29 @@ Also, keep in mind the following concepts.
 
 - Keep things consistent.
 - Automate where possible, using simple checks for formatting, syntax, etc.
+- Write comments and documentation in English.
+- Functions that are too complex (low cohesion) should be appropriately split into smaller functions (e.g. less than 40 lines in one function is recommended in the [google style guideline](https://google.github.io/styleguide/cppguide.html#Write_Short_Functions)).
+- Try to minimize the use of member variables or global variables that have a large scope.
+- Whenever possible, break large pull requests into smaller, manageable PRs (less than 200 lines of change is recommended in some research e.g. [here](https://opensource.com/article/18/6/anatomy-perfect-pull-request)).
 - When it comes to code reviews, don't spend too much time on trivial disagreements. For details see:
   - <https://en.wikipedia.org/wiki/Law_of_triviality>
   - <https://steemit.com/programming/@emrebeyler/code-reviews-and-parkinson-s-law-of-triviality>
+- Please follow the guidelines for each language.
+  - [C++](./languages/cpp.md)
+  - [Python](./languages/python.md)
+  - [Shell script](./languages/shell-scripts.md)
+
+## Autoware Style Guide
+
+For Autoware-specific styles, refer to the following:
+
+- Use the `autoware_` prefix for package names.
+  - cf. [Directory structure guideline, Package name](./ros-nodes/directory-structure.md#package-name)
+  - cf. [Prefix packages with autoware\_](https://github.com/orgs/autowarefoundation/discussions/4097)
+- Add implementations within the `autoware` namespace.
+  - cf. [Class design guideline, Namespaces](./ros-nodes/class-design.md#namespaces)
+  - cf. [Prefix packages with autoware\_, Option 3:](https://github.com/orgs/autowarefoundation/discussions/4097#discussioncomment-8384169)
+- The header files to be exported must be placed in the `PACKAGE_NAME/include/autoware/` directory.
+  - cf. [Directory structure guideline, Exporting headers](./ros-nodes/directory-structure.md#exporting-headers)
+- In `CMakeLists.txt`, use `autoware_package()`.
+  - cf. [autoware_cmake README](https://github.com/autowarefoundation/autoware_cmake/tree/main/autoware_cmake)

docs/contributing/coding-guidelines/languages/cpp.md

@@ -202,3 +202,26 @@ constexpr double gravity = 9.80665;
 class RosApi;
 RosApi ros_api;
 ```
+
+### Do not use the auto keywords with Eigen's expressions (required)
+
+#### Rationale
+
+- Avoid using auto with `Eigen::Matrix` or `Eigen::Vector` variables, as it can lead to bugs.
+
+#### Reference
+
+- [Eigen, C++11 and the auto keyword](https://eigen.tuxfamily.org/dox/TopicPitfalls.html)
+
+### Use RCLCPP\_\* (e.g. RCLCPP_INFO) macros instead of printf or std::cout for logging (required)
+
+#### Rationale
+
+- Reasons include the following:
+  - It allows for consistent log level management. For instance, with RCLCPP\_\* macros, you can simply set --log_level to adjust the log level uniformly across the application.
+  - You can standardize the format using RCUTILS_CONSOLE_OUTPUT_FORMAT.
+  - With RCLCPP\_\* macros, logs are automatically recorded to /rosout. These logs can be saved to a rosbag, which can then be replayed to review the log data.
+
+#### Reference
+
+- [Autoware Documentation for Console logging in ROS Node](../ros-nodes/console-logging.md)

docs/contributing/coding-guidelines/ros-nodes/.pages

@@ -8,3 +8,4 @@ nav:
   - parameters.md
   - task-scheduling.md
   - topic-namespaces.md
+  - topic-message-handling

docs/contributing/coding-guidelines/ros-nodes/class-design.md

@@ -1,5 +1,68 @@
 # Class design
 
+We'll use the `autoware_gnss_poser` package as an example.
+
+## Namespaces
+
+```cpp
+namespace autoware::gnss_poser
+{
+...
+} // namespace autoware::gnss_poser
+```
+
+- Everything should be under `autoware::gnss_poser` namespace.
+- Closing braces must contain a comment with the namespace name. (Automated with `cpplint`)
+
+## Classes
+
+### Nodes
+
+#### `gnss_poser_node.hpp`
+
+```cpp
+class GNSSPoser : public rclcpp::Node
+{
+  public:
+    explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
+  ...
+}
+```
+
+#### `gnss_poser_node.cpp`
+
+```cpp
+GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
+: Node("gnss_poser", node_options)
+{
+  ...
+}
+```
+
+- The class name should be in `CamelCase`.
+- Node classes should inherit from `rclcpp::Node`.
+- The constructor must be marked be explicit.
+- The constructor must take `rclcpp::NodeOptions` as an argument.
+- Default node name:
+  - should not have `autoware_` prefix.
+  - should **NOT** have `_node` suffix.
+    - **Rationale:** Node names are useful in the runtime. And output of `ros2 node list` will show only nodes anyway. Having `_node` is redundant.
+  - **Example:** `gnss_poser`.
+
+##### Component registration
+
+```cpp
+...
+} // namespace autoware::gnss_poser
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gnss_poser::GNSSPoser)
+```
+
+- The component should be registered at the end of the `gnss_poser_node.cpp` file, outside the namespaces.
+
+### Libraries
+
 !!! warning
 
     Under Construction

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

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