[pull] main from autowarefoundation:main

.github/CODEOWNERS

@@ -119,7 +119,6 @@ perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
-perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp

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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -87,6 +87,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -114,6 +114,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h
@@ -142,20 +143,20 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
-      - name: Get modified files
-        id: get-modified-files
+      - name: Get changed files (existing files only)
+        id: get-changed-files
         run: |
-          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | tr '\n' ' ' || true)" >> $GITHUB_OUTPUT
+          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
         shell: bash
 
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.changed_files != '' }}
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          target-files: ${{ steps.get-changed-files.outputs.changed-files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
           build-depends-repos: build_depends.repos
           cache-key-element: cuda
 

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

@@ -115,6 +115,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

build_depends.repos

@@ -1,8 +1,21 @@
 repositories:
   # core
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
+  core/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: main
+  core/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: main
+  core/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
     version: main
   core/autoware.core:
     type: git

common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -526,10 +526,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
       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);
-  } else {
+  } else {  // including shape_msg.type == Shape::POLYGON
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_polygon_line_list(shape_msg, marker_ptr->points);
   }
@@ -562,10 +559,7 @@ visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr(
   } else if (shape_msg.type == Shape::CYLINDER) {
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_2d_cylinder_bottom_line_list(shape_msg, marker_ptr->points);
-  } else if (shape_msg.type == Shape::POLYGON) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
-  } else {
+  } else {  // including shape_msg.type == Shape::POLYGON
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
   }

common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -16,11 +16,11 @@
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <component_interface_specs/planning.hpp>
-#include <lanelet2_extension/io/autoware_osm_parser.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

common/autoware_test_utils/package.xml

@@ -16,14 +16,14 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
-  <depend>lanelet2_extension</depend>
   <depend>lanelet2_io</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>

common/geography_utils/package.xml

@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>lanelet2_io</depend>
   <depend>tier4_map_msgs</depend>
 

common/geography_utils/src/lanelet2_projector.cpp

@@ -13,9 +13,9 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
-#include <lanelet2_extension/projection/transverse_mercator_projector.hpp>
 
 #include <lanelet2_projection/UTM.h>
 

common/geography_utils/src/projection.cpp

@@ -13,9 +13,9 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
 #include <geography_utils/projection.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
 
 namespace geography_utils
 {

common/tier4_traffic_light_rviz_plugin/package.xml

@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

@@ -22,9 +22,9 @@
 #include <QString>
 #include <QStringList>
 #include <QVBoxLayout>
-#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
 #include <rviz_common/display_context.hpp>
 
 #include <lanelet2_core/primitives/RegulatoryElement.h>

common/traffic_light_recognition_marker_publisher/package.xml

@@ -12,11 +12,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>visualization_msgs</depend>

common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp

@@ -15,10 +15,10 @@
 #ifndef TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_
 #define TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_
 
-#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/query.hpp>
-#include <lanelet2_extension/visualization/visualization.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

common/traffic_light_utils/package.xml

@@ -16,8 +16,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>tier4_perception_msgs</depend>
 
   <export>

common/tvm_utility/include/tvm_utility/pipeline.hpp

@@ -93,6 +93,7 @@ class PipelineStage
    * @return The output of the pipeline
    */
   virtual OutputType schedule(const InputType & input) = 0;
+  virtual ~PipelineStage() {}
   InputType input_type_indicator_;
   OutputType output_type_indicator_;
 };
@@ -299,7 +300,7 @@ class InferenceEngineTVM : public InferenceEngine
     }
   }
 
-  TVMArrayContainerVector schedule(const TVMArrayContainerVector & input)
+  TVMArrayContainerVector schedule(const TVMArrayContainerVector & input) override
   {
     // Set input(s)
     for (uint32_t index = 0; index < input.size(); ++index) {

control/autoware_autonomous_emergency_braking/README.md

@@ -142,7 +142,7 @@ $$
 
 where $yaw_{diff}$ is the difference in yaw between the ego path and the displacement vector $$v_{pos} = o_{pos} - prev_{pos} $$ and $v_{ego}$ is the ego's current speed, which accounts for the movement of points caused by the ego moving and not the object. All these equations are performed disregarding the z axis (in 2D).
 
-Note that, the object velocity is calculated against the ego's current movement direction. If the object moves in the opposite direction to the ego's movement, the object velocity is set to 0 m/s. That is because the RSS distance calculation assumes the ego and the object move in the same direction and it cannot deal with negative velocities.
+Note that, the object velocity is calculated against the ego's current movement direction. If the object moves in the opposite direction to the ego's movement, the object velocity will be negative, which will reduce the rss distance on the next step.
 
 The resulting estimated object speed is added to a queue of speeds with timestamps. The AEB then checks for expiration of past speed estimations and eliminates expired speed measurements from the queue, the object expiration is determined by checking if the time elapsed since the speed was first added to the queue is larger than the parameter `previous_obstacle_keep_time`. Finally, the median speed of the queue is calculated. The median speed will be used to calculate the RSS distance used for collision checking.
 
@@ -151,7 +151,7 @@ The resulting estimated object speed is added to a queue of speeds with timestam
 In the fourth step, it checks the collision with the closest obstacle point using RSS distance. RSS distance is formulated as:
 
 $$
-d = v_{ego}*t_{response} + v_{ego}^2/(2*a_{min}) - v_{obj}^2/(2*a_{obj_{min}}) + offset
+d = v_{ego}*t_{response} + v_{ego}^2/(2*a_{min}) -(sign(v_{obj})) * v_{obj}^2/(2*a_{obj_{min}}) + offset
 $$
 
 where $v_{ego}$ and $v_{obj}$ is current ego and obstacle velocity, $a_{min}$ and $a_{obj_{min}}$ is ego and object minimum acceleration (maximum deceleration), $t_{response}$ is response time of the ego vehicle to start deceleration. Therefore the distance from the ego vehicle to the obstacle is smaller than this RSS distance $d$, the ego vehicle send emergency stop signals. This is illustrated in the following picture.
@@ -221,6 +221,4 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t
 
 - The accuracy of the predicted path created from sensor data depends on the accuracy of sensors attached to the ego vehicle.
 
-- Currently, the module calculates thee closest object velocity if it goes in the same direction as the ego vehicle, otherwise the velocity is set to 0 m/s since RSS distance calculation does not use negative velocities.
-
 ![aeb_range](./image/range.drawio.svg)

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp

@@ -60,7 +60,6 @@ using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware::vehicle_info_utils::VehicleInfo;
 using diagnostic_updater::DiagnosticStatusWrapper;
@@ -120,12 +119,12 @@ class CollisionDataKeeper
     return this->checkObjectDataExpired(prev_closest_object_, previous_obstacle_keep_time_);
   }
 
-  ObjectData get() const
+  [[nodiscard]] ObjectData get() const
   {
     return (closest_object_.has_value()) ? closest_object_.value() : ObjectData();
   }
 
-  ObjectData getPreviousObjectData() const
+  [[nodiscard]] ObjectData getPreviousObjectData() const
   {
     return (prev_closest_object_.has_value()) ? prev_closest_object_.value() : ObjectData();
   }
@@ -156,20 +155,21 @@ class CollisionDataKeeper
         }),
       obstacle_velocity_history_.end());
     obstacle_velocity_history_.emplace_back(
-      std::make_pair(current_object_velocity, current_object_velocity_time_stamp));
+      current_object_velocity, current_object_velocity_time_stamp);
   }
 
-  std::optional<double> getMedianObstacleVelocity() const
+  [[nodiscard]] std::optional<double> getMedianObstacleVelocity() const
   {
     if (obstacle_velocity_history_.empty()) return std::nullopt;
     std::vector<double> raw_velocities;
+    raw_velocities.reserve(obstacle_velocity_history_.size());
     for (const auto & vel_time_pair : obstacle_velocity_history_) {
       raw_velocities.emplace_back(vel_time_pair.first);
     }
 
     const size_t med1 = (raw_velocities.size() % 2 == 0) ? (raw_velocities.size()) / 2 - 1
-                                                         : (raw_velocities.size()) / 2.0;
-    const size_t med2 = (raw_velocities.size()) / 2.0;
+                                                         : (raw_velocities.size()) / 2;
+    const size_t med2 = (raw_velocities.size()) / 2;
     std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med1, raw_velocities.end());
     const double vel1 = raw_velocities.at(med1);
     std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med2, raw_velocities.end());
@@ -181,7 +181,7 @@ class CollisionDataKeeper
     const ObjectData & closest_object, const Path & path, const double current_ego_speed)
   {
     // in case the object comes from predicted objects info, we reuse the speed.
-    if (closest_object.velocity > 0.0) {
+    if (std::abs(closest_object.velocity) > std::numeric_limits<double>::epsilon()) {
       this->setPreviousObjectData(closest_object);
       this->updateVelocityHistory(closest_object.velocity, closest_object.stamp);
       return this->getMedianObstacleVelocity();
@@ -218,7 +218,7 @@ class CollisionDataKeeper
         p_vel * std::cos(p_yaw - traj_yaw) + std::abs(current_ego_speed);
 
       // Current RSS distance calculation does not account for negative velocities
-      return (estimated_velocity > 0.0) ? estimated_velocity : 0.0;
+      return estimated_velocity;
     });
 
     if (!estimated_velocity_opt.has_value()) {

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp

@@ -37,7 +37,6 @@
 
 namespace autoware::motion::control::autonomous_emergency_braking::utils
 {
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -51,7 +50,7 @@ using geometry_msgs::msg::TransformStamped;
  * @param transform_stamped the tf2 transform
  */
 PredictedObject transformObjectFrame(
-  const PredictedObject & input, geometry_msgs::msg::TransformStamped transform_stamped);
+  const PredictedObject & input, geometry_msgs::msg::TransformStamped & transform_stamped);
 
 /**
  * @brief Get the predicted objects polygon as a geometry polygon