Merge pull request #1625 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.38 with tier4/main

.github/CODEOWNERS

@@ -1,34 +1,33 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
+common/autoware_component_interface_specs/** [email protected] [email protected]
+common/autoware_component_interface_tools/** [email protected]
 common/autoware_geography_utils/** [email protected]
+common/autoware_goal_distance_calculator/** [email protected]
 common/autoware_grid_map_utils/** [email protected]
 common/autoware_interpolation/** [email protected] [email protected]
 common/autoware_kalman_filter/** [email protected] [email protected] [email protected]
 common/autoware_motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_object_recognition_utils/** [email protected] [email protected] [email protected]
+common/autoware_osqp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
 common/autoware_path_distance_calculator/** [email protected]
 common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_point_types/** [email protected] [email protected]
+common/autoware_polar_grid/** [email protected]
 common/autoware_signal_processing/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_test_utils/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_universe_utils/** [email protected] [email protected] [email protected]
-common/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected]
+common/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
-common/component_interface_specs/** [email protected] [email protected]
-common/component_interface_tools/** [email protected]
 common/component_interface_utils/** [email protected] [email protected]
 common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
-common/goal_distance_calculator/** [email protected]
-common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
-common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
-common/tensorrt_common/** [email protected] [email protected] [email protected] [email protected]
 common/tier4_adapi_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_api_utils/** [email protected]
 common/tier4_camera_view_rviz_plugin/** [email protected] [email protected]
@@ -44,11 +43,13 @@ common/traffic_light_recognition_marker_publisher/** [email protected]
 common/traffic_light_utils/** [email protected] [email protected] [email protected]
 common/tvm_utility/** [email protected] [email protected]
 control/autoware_autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected] [email protected]
+control/autoware_collision_detector/** [email protected] [email protected]
 control/autoware_control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_external_cmd_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_joy_controller/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_lane_departure_checker/** [email protected] [email protected] [email protected]
 control/autoware_mpc_lateral_controller/** [email protected] [email protected]
+control/autoware_obstacle_collision_checker/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_operation_mode_transition_manager/** [email protected] [email protected] [email protected]
 control/autoware_pid_longitudinal_controller/** [email protected] [email protected] [email protected]
 control/autoware_pure_pursuit/** [email protected] [email protected]
@@ -58,7 +59,6 @@ control/autoware_trajectory_follower_base/** [email protected] takayuki.m
 control/autoware_trajectory_follower_node/** [email protected] [email protected]
 control/autoware_vehicle_cmd_gate/** [email protected] [email protected]
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-control/autoware_obstacle_collision_checker/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/predicted_path_checker/** [email protected]
 evaluator/autoware_control_evaluator/** [email protected] [email protected] [email protected] [email protected]
 evaluator/autoware_evaluator_utils/** [email protected] [email protected]
@@ -116,7 +116,7 @@ perception/autoware_image_projection_based_fusion/** [email protected] koji.mi
 perception/autoware_lidar_apollo_instance_segmentation/** [email protected] [email protected]
 perception/autoware_lidar_centerpoint/** [email protected] [email protected]
 perception/autoware_lidar_transfusion/** [email protected] [email protected] [email protected]
-perception/autoware_map_based_prediction/** [email protected] [email protected] [email protected] [email protected] [email protected]
+perception/autoware_map_based_prediction/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 perception/autoware_multi_object_tracker/** [email protected] [email protected] [email protected]
 perception/autoware_object_merger/** [email protected] [email protected] [email protected]
 perception/autoware_object_range_splitter/** [email protected] [email protected]
@@ -132,6 +132,7 @@ perception/autoware_raindrop_cluster_filter/** [email protected] yoshi.ri@tier
 perception/autoware_shape_estimation/** [email protected] [email protected] [email protected]
 perception/autoware_simple_object_merger/** [email protected] [email protected] [email protected]
 perception/autoware_tensorrt_classifier/** [email protected] [email protected]
+perception/autoware_tensorrt_common/** [email protected] [email protected] [email protected] [email protected]
 perception/autoware_tensorrt_yolox/** [email protected] [email protected] [email protected]
 perception/autoware_tracking_object_merger/** [email protected] [email protected] [email protected]
 perception/autoware_traffic_light_arbiter/** [email protected] [email protected]
@@ -148,7 +149,7 @@ planning/autoware_freespace_planner/** [email protected] takamasa.horibe@
 planning/autoware_freespace_planning_algorithms/** [email protected] [email protected] [email protected]
 planning/autoware_mission_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_objects_of_interest_marker_interface/** [email protected] [email protected] [email protected]
-planning/autoware_obstacle_cruise_planner/** [email protected] [email protected] [email protected] [email protected]
+planning/autoware_obstacle_cruise_planner/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_path_optimizer/** [email protected] [email protected] [email protected]
 planning/autoware_path_smoother/** [email protected] [email protected]
@@ -178,7 +179,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/*
 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -187,7 +188,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** [email protected] [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** [email protected] [email protected]

.github/labeler.yaml

@@ -42,5 +42,3 @@
 "tag:require-cuda-build-and-test":
   - perception/**/*
   - sensing/**/*
-  - common/cuda_utils/**/*
-  - common/tensorrt_common/**/*

.github/workflows/build-and-test-differential-arm64.yaml

@@ -76,7 +76,7 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-          build-pre-command: taskset --cpu-list 0-6
+          build-pre-command: taskset --cpu-list 0-5
 
       - name: Test
         id: test

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

@@ -46,7 +46,7 @@ jobs:
             build-depends-repos: build_depends.repos
           - container-suffix: -cuda
             runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-            build-pre-command: taskset --cpu-list 0-6
+            build-pre-command: taskset --cpu-list 0-5
           - container-suffix: ""
             runner: ubuntu-latest
             build-pre-command: ""

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

@@ -93,7 +93,7 @@ jobs:
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-          build-pre-command: taskset --cpu-list 0-6
+          build-pre-command: taskset --cpu-list 0-5
 
       - name: Show ccache stats after build
         run: du -sh ${CCACHE_DIR} && ccache -s

common/.pages

@@ -9,7 +9,6 @@ nav:
       - 'comparisons': common/autoware_auto_common/design/comparisons
     - 'autoware_grid_map_utils': common/autoware_grid_map_utils
     - 'autoware_point_types': common/autoware_point_types
-    - 'Cuda Utils': common/cuda_utils
     - 'Geography Utils': common/geography_utils
     - 'Global Parameter Loader': common/global_parameter_loader/Readme
     - 'Glog Component': common/glog_component
@@ -24,7 +23,6 @@ nav:
     - 'Signal Processing':
       - 'Introduction': common/signal_processing
       - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
-    - 'TensorRT Common': common/tensorrt_common
     - 'autoware_universe_utils': common/autoware_universe_utils
     - 'traffic_light_utils': common/traffic_light_utils
     - 'TVM Utility':

common/component_interface_specs/CMakeLists.txt → common/autoware_component_interface_specs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(component_interface_specs)
+project(autoware_component_interface_specs)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

common/component_interface_specs/README.md → common/autoware_component_interface_specs/README.md

@@ -1,3 +1,3 @@
-# component_interface_specs
+# autoware_component_interface_specs
 
 This package is a specification of component interfaces.

common/component_interface_specs/include/component_interface_specs/control.hpp → common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
-#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace control_interface
+namespace autoware::component_interface_specs::control
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace control_interface
+}  // namespace autoware::component_interface_specs::control
 
-#endif  // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_

common/component_interface_specs/include/component_interface_specs/localization.hpp → common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
-#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace localization_interface
+namespace autoware::component_interface_specs::localization
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace localization_interface
+}  // namespace autoware::component_interface_specs::localization
 
-#endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/component_interface_specs/include/component_interface_specs/map.hpp → common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_
-#define COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace map_interface
+namespace autoware::component_interface_specs::map
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace map_interface
+}  // namespace autoware::component_interface_specs::map
 
-#endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/component_interface_specs/include/component_interface_specs/perception.hpp → common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
-#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace perception_interface
+namespace autoware::component_interface_specs::perception
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace perception_interface
+}  // namespace autoware::component_interface_specs::perception
 
-#endif  // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/component_interface_specs/include/component_interface_specs/planning.hpp → common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
-#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace planning_interface
+namespace autoware::component_interface_specs::planning
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace planning_interface
+}  // namespace autoware::component_interface_specs::planning
 
-#endif  // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_