refactor(localization_util): Update function call from Laplace to laplace

.github/workflows/beta-to-tier4-main-sync.yaml

@@ -0,0 +1,34 @@
+name: beta-to-tier4-main-sync
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: Source branch
+        required: true
+        type: string
+
+jobs:
+  sync-beta-branch:
+    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/main
+          sync-pr-branch: beta-to-tier4-main-sync
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: ${{ inputs.source_branch }}
+          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
+          pr-labels: |
+            bot
+            sync-beta-branch
+          auto-merge-method: merge

.github/workflows/comment-on-pr.yaml

@@ -1,25 +1,25 @@
 name: comment-on-pr
+
 on:
-  pull_request_target:
+  pull_request:
+    types:
+      - opened
+    branches:
+      - beta/v0.[0-9]+.[1-9]+
 
 jobs:
-  comment-on-pr:
+  comment:
     runs-on: ubuntu-latest
-    permissions:
-      pull-requests: write
     steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-
-      - name: Initial PR comment
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          message: |
-            Thank you for contributing to the Autoware project!
-
-            🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft).
-
-            Please ensure:
-            - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/).
-            - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/).
-            - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review).
+      - name: Create comments
+        run: |
+          cat << EOF > comments
+          ### Merging guidelines for the beta branch
+          Please use `Squash and merge` as the default.
+          However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history.
+          EOF
+      - name: Post comments
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          URL: ${{ github.event.pull_request.html_url }}
+        run: gh pr comment -F ./comments "${URL}"

.github/workflows/dispatch-push-event.yaml

@@ -0,0 +1,45 @@
+name: dispatch-push-event
+on:
+  push:
+
+jobs:
+  search-dispatch-repo:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve }
+    outputs:
+      dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }}
+    steps:
+      - name: Search dispatch repo
+        id: search-dispatch-repo
+        run: |
+          if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then
+            echo ::set-output name=value::"${{ matrix.dispatch-repo }}"
+            echo "Detected beta branch: ${{ github.ref_name }}"
+            echo "Dispatch repository: ${{ matrix.dispatch-repo }}"
+          fi
+
+  dispatch-push-event:
+    runs-on: ubuntu-latest
+    needs: search-dispatch-repo
+    if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }}
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.INTERNAL_APP_ID }}
+          private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }}
+
+      # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。
+      - name: Dispatch the update-beta-branch workflow
+        run: |
+          curl -L \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \
+          -d '{"ref":"main"}'

.github/workflows/dispatch-release-note.yaml

@@ -0,0 +1,46 @@
+name: dispatch-release-note
+on:
+  push:
+    branches:
+      - beta/v*
+      - tier4/main
+    tags:
+      - v*
+  workflow_dispatch:
+    inputs:
+      beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to write release note
+        type: string
+        required: true
+jobs:
+  dispatch-release-note:
+    runs-on: ubuntu-latest
+    name: release-repository-dispatch
+    steps:
+      - name: Set tag name
+        id: set-tag-name
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+          else
+            REF_NAME="${{ github.ref_name }}"
+          fi
+          echo ::set-output name=ref-name::"$REF_NAME"
+          echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Repository dispatch for release note
+        run: |
+          curl \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+          -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}'

.github/workflows/slack-send.yaml

@@ -0,0 +1,25 @@
+name: slack-send
+on:
+  workflow_run:
+    workflows:
+      - build-and-test
+    types:
+      - completed
+
+jobs:
+  on-failure:
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Send to Slack workflow
+        uses: slackapi/slack-github-action@v1
+        with:
+          payload: |
+            {
+              "workflow-url": "${{ github.event.workflow_run.html_url }}"
+            }
+        env:
+          SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }}

.github/workflows/sync-awf-latest.yaml

@@ -0,0 +1,26 @@
+name: sync-awf-latest
+
+on:
+  schedule:
+    - cron: 50 */1 * * * # every 1 hour (**:50)
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.TOKEN_TO_MODIFY_WOKFLOW  }}
+          fetch-depth: 0
+      - name: Commit Results
+        run: |
+          git config --local user.email "[email protected]"
+          git config --local user.name "GitHub Action"
+
+          git checkout awf-latest
+          git remote add awf https://github.com/autowarefoundation/autoware.universe
+          git fetch awf main
+          git rebase awf/main
+
+          git push origin awf-latest --force

.github/workflows/sync-upstream.yaml

@@ -0,0 +1,49 @@
+name: sync-upstream
+
+on:
+  workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch
+        required: true
+        type: string
+
+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: ${{ secrets.PRIVATE_KEY }}
+
+      - uses: actions/setup-node@v3
+        with:
+          node-version: 16
+
+      - run: npm install @holiday-jp/holiday_jp
+
+      - uses: actions/github-script@v6
+        id: is-holiday
+        with:
+          script: |
+            const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
+            core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
+      - name: Print warning for invalid branch name
+        if: ${{ inputs.target_branch  == 'tier4/main' }}
+        run: |
+          echo This action cannot be performed on 'tier4/main' branch
+
+      - name: Run sync-branches
+        if: ${{ inputs.target_branch  != 'tier4/main' }}
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: ${{ inputs.target_branch }}
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync tier4/autoware.universe:awf-latest"
+          auto-merge-method: merge

.pre-commit-config.yaml

@@ -66,7 +66,7 @@ repos:
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.6
+    rev: v18.1.8
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
@@ -79,7 +79,7 @@ repos:
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.5
+    rev: 0.28.6
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py

@@ -88,7 +88,7 @@ def create_parameter_dict(*args):
                 package="autoware_traffic_light_visualization",
                 plugin="autoware::traffic_light::TrafficLightRoiVisualizerNode",
                 name="traffic_light_roi_visualizer",
-                parameters=[create_parameter_dict("enable_fine_detection")],
+                parameters=[create_parameter_dict("enable_fine_detection", "use_image_transport")],
                 remappings=[
                     ("~/input/image", LaunchConfiguration("input/image")),
                     ("~/input/rois", LaunchConfiguration("output/rois")),
@@ -172,6 +172,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     classifier_share_dir = get_package_share_directory("autoware_traffic_light_classifier")
     add_launch_arg("enable_image_decompressor", "True")
     add_launch_arg("enable_fine_detection", "True")
+    add_launch_arg("use_image_transport", "True")
     add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
     add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois")
     add_launch_arg(

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -834,7 +834,7 @@ Eigen::Matrix2d NDTScanMatcher::estimate_covariance(
   if (
     param_.covariance.covariance_estimation.covariance_estimation_type ==
     CovarianceEstimationType::LAPLACE_APPROXIMATION) {
-    return pclomp::estimate_xy_covariance_by_Laplace_approximation(ndt_result.hessian);
+    return pclomp::estimate_xy_covariance_by_laplace_approximation(ndt_result.hessian);
   } else if (
     param_.covariance.covariance_estimation.covariance_estimation_type ==
     CovarianceEstimationType::MULTI_NDT) {

planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp

@@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
+  applySmallShiftFilter(ret, 1e-3);
+
   return ret;
 }
 

sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp

@@ -228,9 +228,8 @@ void Lanelet2MapFilterComponent::pointcloudCallback(const PointCloud2ConstPtr cl
   if (!transformPointCloud("map", cloud_msg, input_transformed_cloud_ptr.get())) {
     RCLCPP_ERROR_STREAM_THROTTLE(
       this->get_logger(), *this->get_clock(), std::chrono::milliseconds(10000).count(),
-      "Failed transform from "
-        << "map"
-        << " to " << cloud_msg->header.frame_id);
+      "Failed transform from " << "map"
+                               << " to " << cloud_msg->header.frame_id);
     return;
   }
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);