Merge branch 'feat/cuda_probabilistic_occupancy_grid_map' of github.c…

…om:knzo25/autoware.universe into feat/cuda_probabilistic_occupancy_grid_map

.cppcheck_suppressions

@@ -1,4 +1,6 @@
 *:*/test/*
+*:*/examples/*
+*:*/benchmarks/*
 
 checkersReport
 missingInclude

.github/CODEOWNERS

@@ -1,7 +1,7 @@
 ### Automatically generated from package.xml ###
 common/autoware_adapi_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_specs_universe/** [email protected] [email protected]
 common/autoware_component_interface_tools/** [email protected]
 common/autoware_component_interface_utils/** [email protected] [email protected]
 common/autoware_fake_test_node/** [email protected] [email protected] [email protected] [email protected]
@@ -51,7 +51,7 @@ evaluator/autoware_control_evaluator/** [email protected] kosuke.takeuchi@
 evaluator/autoware_planning_evaluator/** [email protected] [email protected] [email protected]
 evaluator/kinematic_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 evaluator/localization_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-evaluator/perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+evaluator/autoware_perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] yoshi.ri@tier4.jp junya.sasaki@tier4.jp
 evaluator/scenario_simulator_v2_adapter/** [email protected] [email protected] [email protected] [email protected]
 launch/tier4_autoware_api_launch/** [email protected] [email protected]
 launch/tier4_control_launch/** [email protected] [email protected]
@@ -170,6 +170,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_m
 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]
+planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -203,24 +204,24 @@ simulator/autoware_carla_interface/** [email protected] mradityagio@gmail.
 simulator/dummy_perception_publisher/** [email protected]
 simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
-simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+simulator/autoware_simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] zulfaqar.azmi@tier4.jp [email protected] junya.sasaki@tier4.jp
 simulator/tier4_dummy_object_rviz_plugin/** [email protected]
-simulator/vehicle_door_simulator/** [email protected]
+simulator/autoware_vehicle_door_simulator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp
 system/autoware_component_monitor/** [email protected] [email protected] [email protected]
 system/autoware_default_adapi/** [email protected] [email protected] [email protected]
 system/autoware_processing_time_checker/** [email protected] [email protected]
-system/bluetooth_monitor/** [email protected]
+system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp
 system/component_state_monitor/** [email protected]
-system/default_ad_api_helpers/ad_api_adaptors/** [email protected] [email protected] [email protected]
-system/default_ad_api_helpers/ad_api_visualizers/** [email protected] [email protected] [email protected]
-system/default_ad_api_helpers/automatic_pose_initializer/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_adapi_adaptors/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_adapi_visualizers/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** [email protected] [email protected] [email protected]
 system/diagnostic_graph_aggregator/** [email protected]
 system/diagnostic_graph_utils/** [email protected]
-system/dummy_diag_publisher/** [email protected] [email protected]
-system/dummy_infrastructure/** [email protected]
-system/duplicated_node_checker/** [email protected] [email protected] [email protected]
+system/autoware_dummy_diag_publisher/** [email protected] [email protected]
+system/autoware_dummy_infrastructure/** [email protected]
+system/autoware_duplicated_node_checker/** [email protected] [email protected] uken.ryu@tier4.jp junya.sasaki@tier4.jp
 system/hazard_status_converter/** [email protected]
-system/mrm_comfortable_stop_operator/** [email protected] [email protected]
+system/autoware_mrm_comfortable_stop_operator/** [email protected] tomohito.ando@tier4.jp junya.sasaki@tier4.jp
 system/mrm_emergency_stop_operator/** [email protected] [email protected]
 system/mrm_handler/** [email protected] [email protected] [email protected]
 system/system_diagnostic_monitor/** [email protected]
@@ -234,6 +235,7 @@ vehicle/autoware_raw_vehicle_cmd_converter/** [email protected] kyoichi.s
 vehicle/autoware_steer_offset_estimator/** [email protected]
 visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
+visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/** [email protected] [email protected]
 visualization/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 visualization/bag_time_manager_rviz_plugin/** [email protected]
 visualization/tier4_adapi_rviz_plugin/** [email protected] [email protected] [email protected]

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

@@ -14,6 +14,10 @@ on:
         default: humble
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
       container-suffix:
         required: false
         default: ""
@@ -28,6 +32,7 @@ env:
 
 jobs:
   build-and-test-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps:

.github/workflows/build-test-tidy-pr.yaml

@@ -40,98 +40,44 @@ jobs:
         shell: bash
 
   build-and-test-differential:
+    if: ${{ always() }}
     needs:
       - require-label
     uses: ./.github/workflows/build-and-test-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.require-label.outputs.result == 'true' }}
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
   build-and-test-differential-cuda:
+    if: ${{ always() }}
     needs: check-if-cuda-job-is-needed
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     uses: ./.github/workflows/build-and-test-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
-  build-test-pr:
-    needs:
-      - build-and-test-differential
-      - build-and-test-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Initialize Summary
-        run: echo "### Build Test PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Evaluate build-and-test-differential
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential.result }}
-          job_name: build-and-test-differential
-          expected_results: success
-
-      - name: Evaluate build-and-test-differential-cuda
-        if: ${{ always() }}
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential-cuda.result }}
-          job_name: build-and-test-differential-cuda
-          expected_results: success,skipped
-
   clang-tidy-differential:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
       - check-if-cuda-job-is-needed
       - build-and-test-differential
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' }}
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' && needs.build-and-test-differential.result == 'success' }}
 
   clang-tidy-differential-cuda:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
+      - check-if-cuda-job-is-needed
       - build-and-test-differential-cuda
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
-
-  clang-tidy-pr:
-    needs:
-      - clang-tidy-differential
-      - clang-tidy-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Initialize Summary
-        run: echo "### Clang Tidy PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Check clang-tidy success
-        if: ${{ needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success' }}
-        run: |
-          echo "✅ Either one of the following has succeeded:" >> $GITHUB_STEP_SUMMARY
-
-      - name: Fail if conditions not met
-        if: ${{ !(needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success') }}
-        run: |
-          echo "::error::❌ Either one of the following should have succeeded:"
-          echo "::error::clang-tidy-differential: ${{ needs.clang-tidy-differential.result }}"
-          echo "::error::clang-tidy-differential-cuda: ${{ needs.clang-tidy-differential-cuda.result }}"
-
-          echo "❌ Either one of the following should have succeeded:" >> $GITHUB_STEP_SUMMARY
-
-          exit 1
-
-      - name: Print the results
-        if: ${{ always() }}
-        run: |
-          echo "- **clang-tidy-differential:** ${{ needs.clang-tidy-differential.result }}" >> $GITHUB_STEP_SUMMARY
-          echo "- **clang-tidy-differential-cuda:** ${{ needs.clang-tidy-differential-cuda.result }}" >> $GITHUB_STEP_SUMMARY
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' && needs.build-and-test-differential-cuda.result == 'success' }}

.github/workflows/bump-version-pr.yaml

@@ -0,0 +1,80 @@
+name: bump-version-pr
+
+on:
+  workflow_dispatch:
+    inputs:
+      version_part:
+        description: Which part of the version number to bump?
+        required: true
+        default: minor
+        type: choice
+        options:
+          - major
+          - minor
+          - patch
+
+jobs:
+  bump-version-pr:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: humble
+          fetch-depth: 0
+
+      - name: Generate token
+        id: generate-token
+        uses: actions/create-github-app-token@v1
+        with:
+          app-id: ${{ secrets.APP_ID }}
+          private-key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Install dependencies
+        run: pip3 install -U catkin_tools
+        shell: bash
+
+      - name: Bump version from humble branch
+        id: bump-version-from-humble-branch
+        run: |
+          git checkout -b tmp/bot/bump_version_base
+          git fetch origin main
+          git merge origin/main
+          catkin_generate_changelog -y
+          git add *
+          git commit -m "update CHANGELOG.rst"
+          catkin_prepare_release -y --bump ${{ inputs.version_part }} --no-push
+          version=$(git describe --tags)
+          echo "version=${version}" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Create target branch
+        run: |
+          git checkout origin/main
+          git checkout -b chore/bot/bump_version
+          git merge tmp/bot/bump_version_base
+          git push origin chore/bot/bump_version --force
+        shell: bash
+
+      - name: Create PR
+        id: create-pr
+        run: >
+          gh
+          pr
+          create
+          --base=main
+          --body="Bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
+          --title="chore: bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
+          --head=chore/bot/bump_version
+        env:
+          GH_TOKEN: ${{ steps.generate-token.outputs.token }}

.github/workflows/clang-tidy-differential.yaml

@@ -14,9 +14,14 @@ on:
         default: ubuntu-24.04
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
 
 jobs:
   clang-tidy-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps:

.pre-commit-config-optional.yaml

@@ -2,6 +2,13 @@
 # https://github.com/autowarefoundation/sync-file-templates
 # To make changes, update the source repository and follow the guidelines in its README.
 
+# https://pre-commit.ci/#configuration
+ci:
+  autofix_commit_msg: "style(pre-commit-optional): autofix"
+  # we already have our own daily update mechanism, we set this to quarterly
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit-optional): quarterly autoupdate"
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
     rev: v3.12.2

build_depends.repos

@@ -32,7 +32,7 @@ repositories:
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.2.0
+    version: 1.3.0
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

codecov.yaml

@@ -195,7 +195,7 @@ component_management:
         - planning/autoware_external_velocity_limit_selector/**
         - planning/autoware_freespace_planner/**
         - planning/autoware_freespace_planning_algorithms/**
-        - planning/autoware_mission_planner/**
+        - planning/autoware_mission_planner_universe/**
         # - planning/autoware_objects_of_interest_marker_interface/**
         - planning/autoware_obstacle_cruise_planner/**
         # - planning/autoware_obstacle_stop_planner/**
@@ -244,7 +244,7 @@ component_management:
         - planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/**
         #### sampling_based_planner
         - planning/sampling_based_planner/autoware_bezier_sampler/**

common/.pages

@@ -46,6 +46,6 @@ nav:
     - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
     - 'autoware_adapi_specs': common/autoware_adapi_specs
-    - 'autoware_component_interface_specs': common/autoware_component_interface_specs
+    - 'autoware_component_interface_specs_universe': common/autoware_component_interface_specs_universe
     - 'autoware_component_interface_tools': common/autoware_component_interface_tools
     - 'autoware_component_interface_utils': common/autoware_component_interface_utils