Merge pull request #1307 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.28.0 with tier4/main

.cspell.json

@@ -1,5 +1,8 @@
 {
-  "ignorePaths": ["perception/bytetrack/lib/**"],
+  "ignorePaths": [
+    "perception/bytetrack/lib/**",
+    "planning/behavior_velocity_intersection_module/scripts/**"
+  ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen"]
+  "words": ["dltype", "tvmgen", "fromarray"]
 }

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->

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

@@ -23,7 +23,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Show disk space before the tasks
         run: df -h

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

@@ -33,7 +33,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

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

@@ -32,7 +32,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
@@ -80,7 +80,7 @@ jobs:
     container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

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

@@ -25,7 +25,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Show disk space before the tasks
         run: df -h

.github/workflows/check-build-depends.yaml

@@ -20,7 +20,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

.github/workflows/clang-tidy-pr-comments-manually.yaml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Download analysis results
         run: |
@@ -36,7 +36,7 @@ jobs:
 
       - name: Check out PR head
         if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
           ref: ${{ steps.set-variables.outputs.pr-head-ref }}

.github/workflows/clang-tidy-pr-comments.yaml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Download analysis results
         run: |
@@ -37,7 +37,7 @@ jobs:
 
       - name: Check out PR head
         if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
           ref: ${{ steps.set-variables.outputs.pr-head-ref }}

.github/workflows/delete-closed-pr-docs.yaml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

.github/workflows/deploy-docs.yaml

@@ -30,7 +30,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ github.event.pull_request.head.sha }}

.github/workflows/json-schema-check.yaml

@@ -10,7 +10,7 @@ jobs:
     outputs:
       run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dorny/paths-filter@v3
         id: paths_filter
         with:
@@ -25,7 +25,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run json-schema-check
         uses: autowarefoundation/autoware-github-actions/json-schema-check@v1

build_depends.repos

@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
+  universe/external/glog:  # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
+    type: git
+    url: https://github.com/tier4/glog.git
+    version: v0.6.0_t4-ros

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -37,7 +37,9 @@ namespace types
 // We don't currently require code to comply to MISRA, but we should try to where it is
 // easily possible.
 using bool8_t = bool;
+#if __cplusplus < 201811L || !__cpp_char8_t
 using char8_t = char;
+#endif
 using uchar8_t = unsigned char;
 // If we ever compile on a platform where this is not true, float32_t and float64_t definitions
 // need to be adjusted.

common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

@@ -57,6 +57,9 @@ struct ObjectPropertyValues
   float alpha{0.999F};
 };
 
+// Control object marker visualization
+enum class ObjectFillType { Skeleton, Fill };
+
 // Map defining colors according to value of label field in ObjectClassification msg
 const std::map<
   autoware_auto_perception_msgs::msg::ObjectClassification::_label_type, ObjectPropertyValues>
@@ -87,7 +90,8 @@ get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
   const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
-  const bool & is_orientation_available = true);
+  const bool & is_orientation_available = true,
+  const ObjectFillType fill_type = ObjectFillType::Skeleton);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_2d_shape_marker_ptr(

common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp

@@ -112,6 +112,12 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_confidence_interval_property->addOption("95%", 2);
     m_confidence_interval_property->addOption("99%", 3);
 
+    m_object_fill_type_property = new rviz_common::properties::EnumProperty(
+      "Object Fill Type", "skeleton", "Change object fill type in visualization", this);
+    m_object_fill_type_property->addOption(
+      "skeleton", static_cast<int>(detail::ObjectFillType::Skeleton));
+    m_object_fill_type_property->addOption("Fill", static_cast<int>(detail::ObjectFillType::Fill));
+
     // iterate over default values to create and initialize the properties.
     for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) {
       const auto & class_property_values = map_property_it.second;
@@ -189,9 +195,13 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     const bool & is_orientation_available) const
   {
     const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels);
+    const auto fill_type =
+      static_cast<detail::ObjectFillType>(m_object_fill_type_property->getOptionInt());
+
     if (m_display_type_property->getOptionInt() == 0) {
       return detail::get_shape_marker_ptr(
-        shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
+        shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available,
+        fill_type);
     } else if (m_display_type_property->getOptionInt() == 1) {
       return detail::get_2d_shape_marker_ptr(
         shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
@@ -526,6 +536,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   rviz_common::properties::EnumProperty * m_simple_visualize_mode_property;
   // Property to set confidence interval of state estimations
   rviz_common::properties::EnumProperty * m_confidence_interval_property;
+  // Property to set visualization type
+  rviz_common::properties::EnumProperty * m_object_fill_type_property;
   // Property to enable/disable label visualization
   rviz_common::properties::BoolProperty m_display_label_property;
   // Property to enable/disable uuid visualization

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -495,23 +495,37 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
   const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
-  const bool & is_orientation_available)
+  const bool & is_orientation_available, const ObjectFillType fill_type)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->ns = std::string("shape");
+  marker_ptr->color = color_rgba;
+  marker_ptr->scale.x = line_width;
 
   using autoware_auto_perception_msgs::msg::Shape;
   if (shape_msg.type == Shape::BOUNDING_BOX) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_bounding_box_line_list(shape_msg, marker_ptr->points);
+    if (fill_type == ObjectFillType::Skeleton) {
+      marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
+      calc_bounding_box_line_list(shape_msg, marker_ptr->points);
+    } else if (fill_type == ObjectFillType::Fill) {
+      marker_ptr->type = visualization_msgs::msg::Marker::CUBE;
+      marker_ptr->scale = shape_msg.dimensions;
+      marker_ptr->color.a = 0.75f;
+    }
     if (is_orientation_available) {
       calc_bounding_box_direction_line_list(shape_msg, marker_ptr->points);
     } else {
       calc_bounding_box_orientation_line_list(shape_msg, marker_ptr->points);
     }
   } else if (shape_msg.type == Shape::CYLINDER) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_cylinder_line_list(shape_msg, marker_ptr->points);
+    if (fill_type == ObjectFillType::Skeleton) {
+      marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
+      calc_cylinder_line_list(shape_msg, marker_ptr->points);
+    } else if (fill_type == ObjectFillType::Fill) {
+      marker_ptr->type = visualization_msgs::msg::Marker::CYLINDER;
+      marker_ptr->scale = shape_msg.dimensions;
+      marker_ptr->color.a = 0.75f;
+    }
   } else if (shape_msg.type == Shape::POLYGON) {
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_polygon_line_list(shape_msg, marker_ptr->points);
@@ -523,8 +537,6 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = to_pose(centroid, orientation);
   marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);
-  marker_ptr->scale.x = line_width;
-  marker_ptr->color = color_rgba;
 
   return marker_ptr;
 }