Merge pull request autowarefoundation#14 from tier4/sync-upstream

chore: sync upstream

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,13 @@
+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

.github/ISSUE_TEMPLATE/task.yaml

@@ -0,0 +1,42 @@
+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

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,27 @@
+## Description
+
+<!-- Write a brief description of this PR. -->
+
+## 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 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/

.github/stale.yml

@@ -0,0 +1,12 @@
+# 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.

.github/sync-files.yaml

@@ -4,24 +4,18 @@
     - 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/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
     - source: .github/workflows/spell-check-differential.yaml
+    - source: .github/workflows/sync-files.yaml
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
     - source: .prettierignore
     - source: .prettierrc.yaml
     - source: .yamllint.yaml
-
-- repository: autowarefoundation/autoware_common
-  files:
-    - source: .github/workflows/sync-files.yaml

.pre-commit-config-optional.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.9.3
+    rev: v3.10.0
     hooks:
       - id: markdown-link-check
         args: [--config=.markdown-link-check.json]

README.md

@@ -1,5 +1,5 @@
 # autoware-documentation
 
-This is one of the prototype repositories for Autoware Core/Universe that AWF agreed to create in the [TSC meeting on 2021/11/17](https://discourse.ros.org/t/technical-steering-committee-tsc-meeting-36-2021-11-17-minutes/23168).
-
-Please see [autowarefoundation/autoware](https://github.com/autowarefoundation/autoware) for more details.
+- 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.
+- 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).

docs/design/.pages

@@ -1,6 +1,6 @@
 nav:
   - index.md
   - autoware-concepts
-  - autoware-interface
+  - autoware-interfaces
   - configuration-management
   - node-diagram

docs/design/autoware-concepts/index.md

@@ -1,5 +1,36 @@
 # Autoware concepts
 
-!!! warning
+Autoware is the world’s first open-source software for autonomous driving systems. Autoware provides value for both The technology developers of autonomous driving systems can create new components based on Autoware. The service operators of autonomous driving systems, on the other hand, can select appropriate technology components with Autoware. This is enabled by the microautonomy architecture that modularizes its software stack into the core and universe subsystems (modules).
 
-    Under Construction
+## Microautonomy architecture
+
+Autoware uses a [pipeline architecture](http://www.cs.sjsu.edu/~pearce/modules/patterns/distArch/pipeline.htm) to enable the development of autonomous driving systems. The pipeline architecture used in Autoware consists of components similar to [three-layer-architecture](http://www.flownet.com/gat/papers/tla.pdf). And they run in parallel. There are 2 main modules: the Core and the Universe. The components in these modules are designed to be extensible and reusable. And we call it microautonomy architecture.
+
+![core-and-universe.svg](core-and-universe.svg)
+
+### The Core module
+
+The Core module contains basic runtimes and technology components that satisfy the basic functionality and capability of sensing, computing, and actuation required for autonomous driving systems. AWF develops and maintains the Core module with their architects and leading members through their working groups. Anyone can contribute to the Core but the PR(Pull Request) acceptance criteria is more strict compared to the Universe.
+
+### The Universe module
+
+The Universe modules are extensions to the Core module that can be provided by the technology developers to enhance the functionality and capability of sensing, computing, and actuation. AWF provides the base Universe module to extend from. A key feature of the microautonomy architecture is that the Universe modules can be contributed to by any organization and individual. That is, you can even create your Universe and make it available for the Autoware community and ecosystem. AWF is responsible for quality control of the Universe modules through their development process. As a result, there are multiple types of the Universe modules - some are verified and validated by AWF and others are not. It is up to the users of Autoware which Universe modules are selected and integrated to build their end applications.
+
+## Interface design
+
+The interface design is the most essential piece of the microautonomy architecture, which is classified into internal and external interfaces. The component interface is designed for the components in a Universe module to communicate with those in other modules, including the Core module, within Autoware internally. The AD(Autonomous Driving) API, on the other hand, is designed for the applications of Autoware to access the technology components in the Core and Universe modules of Autoware externally. Designing solid interfaces, the microautonomy architecture is made possible with our partners, and at the same time is made feasible for our partners.
+
+## Challenges
+
+A grand challenge of the microautonomy architecture is to achieve real-time capability, which guarantees all the technology components activated in the system to predictably meet timing constraints (given deadlines). In general, it is difficult, if not impossible, to tightly estimate the worst-case execution times (WCETs) of components.
+
+In addition, it is also difficult, if not impossible, to tightly estimate the end-to-end latency of components connected by a DAG. Autonomous driving systems based on the microautonomy architecture, therefore, must be designed to be fail-safe but not never-fail. We accept that the timing constraints may be violated (the given deadlines may be missed) as far as the overrun is taken into account. The overrun handlers are two-fold: (i) platform-defined and (ii) user-defined. The platform-defined handler is implemented as part of the platform by default, while the user-defined handler can overwrite it or add a new handler to the system. This is what we call “fail-safe” on a timely basis.
+
+## Requirements and roadmap
+
+Goals:
+
+- All open-source
+- Use case driven
+- Real-time (predictable) framework with overrun handling
+- Code quality

docs/design/autoware-interfaces/.pages

@@ -0,0 +1,4 @@
+nav:
+  - index.md
+  - AD API: ad-api
+  - components

docs/design/autoware-interfaces/ad-api/.pages

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

docs/design/autoware-interfaces/ad-api/index.md

@@ -0,0 +1,5 @@
+# AD API
+
+!!! warning
+
+    Under Construction

docs/design/autoware-interfaces/components/.pages

@@ -0,0 +1,5 @@
+nav:
+  - index.md
+  - planning.md
+  - control.md
+  - vehicle-interface.md

docs/design/autoware-interfaces/components/control.md

@@ -0,0 +1,58 @@
+# Control
+
+![Node diagram](images/Control-Bus-ODD-Architecture.drawio.svg)
+
+## Inputs
+
+### Vehicle kinematic state
+
+Current position and orientation of ego. Published by the Localization module.
+
+- [nav_msgs/Odometry](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html)
+  - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header
+  - string child_frame_id
+  - [geometry_msgs/PoseWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) pose
+  - [geometry_msgs/TwistWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistWithCovariance.html) twist
+
+### Trajectory
+
+trajectory to be followed by the controller. See Outputs of Planning.
+
+### Steering Status
+
+Current steering of the ego vehicle. Published by the Vehicle Interface.
+
+- Steering message ([github discussion](https://github.com/autowarefoundation/autoware/discussions/36)).
+  - builtin_interfaces::msg::Time stamp
+  - float32 steering_angle
+
+### Actuation Status
+
+Actuation status of the ego vehicle for acceleration, steering, and brake.
+
+TODO This represents the reported physical efforts exerted by the vehicle actuators. Published by the Vehicle Interface.
+
+- ActuationStatus ([github discussion](https://github.com/autowarefoundation/autoware/discussions/36)).
+  - builtin_interfaces::msg::Time stamp
+  - float32 acceleration
+  - float32 steering
+
+## Output
+
+### Vehicle Control Command
+
+A motion signal to drive the vehicle, achieved by the low-level controller in the vehicle layer. Used by the Vehicle Interface.
+
+- [autoware_auto_control_msgs/AckermannControlCommand](<https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/AckermannControlCommand.idl>
+  - builtin_interfaces::msg::Time stamp
+  - [autoware_auto_control_msgs/AckermannLateralCommand](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/AckermannLateralCommand.idl) lateral
+    - builtin_interfaces::msg::Time stamp
+    - float steering_tire_angle
+    - float steering_tire_rotation_rate
+  - [autoware_auto_control_msgs/LongitudinalCommand](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/LongitudinalCommand.idl) longitudinal
+    - builtin_interfaces::msg::Time stamp
+    - builtin_interfaces::msg::Duration duration
+    - builtin_interfaces::msg::Duration time_step
+    - float[] speeds
+    - float[] accelerations
+    - float[] jerks

docs/design/autoware-interfaces/components/index.md

@@ -0,0 +1,5 @@
+# Component interfaces
+
+!!! warning
+
+    Under Construction