[pull] main from autowarefoundation:main

.cspell-partial.json

@@ -1,14 +1,5 @@
 {
-  "ignorePaths": [
-    "**/common/**",
-    "**/control/**",
-    "**/evaluator/**",
-    "**/launch/**",
-    "**/perception/**",
-    "**/planning/**",
-    "**/sensing/**",
-    "**/system/**"
-  ],
+  "ignorePaths": ["**/perception/**", "**/sensing/**", "perception/bytetrack/lib/**"],
   "ignoreRegExpList": [],
   "words": []
 }

.github/workflows/openai-pr-reviewer.yaml

@@ -0,0 +1,39 @@
+name: Code Review By ChatGPT
+
+permissions:
+  contents: read
+  pull-requests: write
+
+on:
+  pull_request_target:
+    types:
+      - labeled
+  pull_request_review_comment:
+    types: [created]
+
+concurrency:
+  group: ${{ github.repository }}-${{ github.event.number || github.head_ref ||
+    github.sha }}-${{ github.workflow }}-${{ github.event_name ==
+    'pull_request_review_comment' && 'pr_comment' || 'pr' }}
+  cancel-in-progress: ${{ github.event_name != 'pull_request_review_comment' }}
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: openai-pr-reviewer
+  review:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: fluxninja/openai-pr-reviewer@latest
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
+        with:
+          debug: false
+          review_simple_changes: false
+          review_comment_lgtm: false
+          openai_light_model: gpt-3.5-turbo-0613
+          openai_heavy_model: gpt-3.5-turbo-0613 # The default is to use GPT4, which needs to be changed to join ChatGPT Plus.

common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
+
+namespace autoware_ad_api::perception
+{
+
+struct DynamicObjectArray
+{
+  using Message = autoware_adapi_v1_msgs::msg::DynamicObjectArray;
+  static constexpr char name[] = "/api/perception/objects";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware_ad_api::perception
+
+#endif  // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_

common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp

@@ -98,7 +98,7 @@ Covariance2d covariance_2d(const IT begin, const IT end)
 /// \param[out] eig_vec1 First eigenvector
 /// \param[out] eig_vec2 Second eigenvector
 /// \tparam PointT Point type that has at least float members x and y
-/// \return A pairt of eigenvalues: The first is the larger eigenvalue
+/// \return A pair of eigenvalues: The first is the larger eigenvalue
 /// \throw std::runtime error if you would get degenerate covariance
 template <typename PointT>
 std::pair<float32_t, float32_t> eig_2d(

common/autoware_auto_geometry/test/include/test_bounding_box.hpp

@@ -336,7 +336,7 @@ TYPED_TEST(BoxTest, Line3)
     /_/ <-- first guess is suboptimal
 
 */
-TYPED_TEST(BoxTest, SuboptInit)
+TYPED_TEST(BoxTest, SuboptimalInit)
 {
   this->points.insert(
     this->points.begin(),

common/autoware_auto_geometry/test/include/test_spatial_hash.hpp

@@ -145,9 +145,9 @@ TYPED_TEST(TypedSpatialHashTest, Oob)
   // loop through all points
   float32_t r = dr + this->EPS;
   const uint32_t n_pts = PTS_PER_RING;
-  const auto & nbrs = hash.near(this->ref, r);
+  const auto & neighbors = hash.near(this->ref, r);
   uint32_t points_seen = 0U;
-  for (const auto itd : nbrs) {
+  for (const auto itd : neighbors) {
     const PointT & pt = itd;
     const float32_t dist = sqrtf((pt.x * pt.x) + (pt.y * pt.y));
     ASSERT_LT(dist, r);

common/autoware_auto_geometry/test/src/test_convex_hull.cpp

@@ -139,7 +139,7 @@ TYPED_TEST(TypedConvexHullTest, Quadrilateral)
 }
 
 // test that things get reordered to ccw
-TYPED_TEST(TypedConvexHullTest, Quadhull)
+TYPED_TEST(TypedConvexHullTest, QuadHull)
 {
   std::vector<TypeParam> data(
     {this->make(1, 1, 1), this->make(5, 1, 2), this->make(2, 6, 3), this->make(3, 3, 4),

common/autoware_auto_geometry/test/src/test_hull_pockets.cpp

@@ -110,7 +110,7 @@ TYPED_TEST(TypedHullPocketsTest, Box)
 // |                              |
 // +------------------------------+
 // This should come up with a single box on the top left.
-TYPED_TEST(TypedHullPocketsTest, Ushape)
+TYPED_TEST(TypedHullPocketsTest, UShape)
 {
   const auto polygon = std::vector<decltype(this->make(0, 0, 0))>{
     this->make(0, 0, 0), this->make(5, 0, 0), this->make(5, 4.5, 0), this->make(4, 5, 0),

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -346,9 +346,13 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   {
     std_msgs::msg::ColorRGBA sample_color;
     sample_color.r = 1.0;
-    sample_color.g = 0.0;
-    sample_color.b = 1.0;
-    colors.push_back(sample_color);  // magenta
+    sample_color.g = 0.65;
+    sample_color.b = 0.0;
+    colors.push_back(sample_color);  // orange
+    sample_color.r = 1.0;
+    sample_color.g = 1.0;
+    sample_color.b = 0.0;
+    colors.push_back(sample_color);  // yellow
     sample_color.r = 0.69;
     sample_color.g = 1.0;
     sample_color.b = 0.18;
@@ -361,22 +365,18 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     sample_color.g = 1.0;
     sample_color.b = 0.0;
     colors.push_back(sample_color);  // chartreuse green
-    sample_color.r = 0.12;
-    sample_color.g = 0.56;
-    sample_color.b = 1.0;
-    colors.push_back(sample_color);  // dodger blue
     sample_color.r = 0.0;
     sample_color.g = 1.0;
     sample_color.b = 1.0;
     colors.push_back(sample_color);  // cyan
-    sample_color.r = 0.54;
-    sample_color.g = 0.168;
-    sample_color.b = 0.886;
-    colors.push_back(sample_color);  // blueviolet
-    sample_color.r = 0.0;
-    sample_color.g = 1.0;
-    sample_color.b = 0.5;
-    colors.push_back(sample_color);  // spring green
+    sample_color.r = 0.53;
+    sample_color.g = 0.81;
+    sample_color.b = 0.98;
+    colors.push_back(sample_color);  // light skyblue
+    sample_color.r = 1.0;
+    sample_color.g = 0.41;
+    sample_color.b = 0.71;
+    colors.push_back(sample_color);  // hot pink
   }
 
   double get_line_width() { return m_line_width_property.getFloat(); }

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -64,8 +64,7 @@ visualization_msgs::msg::Marker::SharedPtr get_path_confidence_marker_ptr(
   marker_ptr->color = path_confidence_color;
   marker_ptr->pose.position = predicted_path.path.back().position;
   marker_ptr->text = std::to_string(predicted_path.confidence);
-  marker_ptr->color.a = std::max(
-    static_cast<double>(std::min(static_cast<double>(predicted_path.confidence), 0.999)), 0.5);
+  marker_ptr->color.a = 0.5;
   return marker_ptr;
 }
 
@@ -81,9 +80,8 @@ visualization_msgs::msg::Marker::SharedPtr get_predicted_path_marker_ptr(
   marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
   marker_ptr->pose = initPose();
   marker_ptr->color = predicted_path_color;
-  marker_ptr->color.a = std::max(
-    static_cast<double>(std::min(static_cast<double>(predicted_path.confidence), 0.999)), 0.5);
-  marker_ptr->scale.x = 0.03 * marker_ptr->color.a;
+  marker_ptr->color.a = 0.6;
+  marker_ptr->scale.x = 0.015;
   calc_path_line_list(predicted_path, marker_ptr->points, is_simple);
   for (size_t k = 0; k < marker_ptr->points.size(); ++k) {
     marker_ptr->points.at(k).z -= shape.dimensions.z / 2.0;

common/component_interface_specs/include/component_interface_specs/map.hpp

@@ -25,7 +25,7 @@ namespace map_interface
 struct MapProjectorInfo
 {
   using Message = tier4_map_msgs::msg::MapProjectorInfo;
-  static constexpr char name[] = "/map/map_projector_type";
+  static constexpr char name[] = "/map/map_projector_info";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;

common/component_interface_specs/include/component_interface_specs/perception.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// 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_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+
+namespace perception_interface
+{
+
+struct ObjectRecognition
+{
+  using Message = autoware_auto_perception_msgs::msg::PredictedObjects;
+  static constexpr char name[] = "/perception/object_recognition/objects";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace perception_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/glog_component/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.14)
+project(glog_component)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+
+ament_auto_add_library(glog_component SHARED
+  src/glog_component.cpp
+)
+target_link_libraries(glog_component glog)
+
+rclcpp_components_register_node(glog_component
+  PLUGIN "GlogComponent"
+  EXECUTABLE glog_component_node
+)
+
+ament_auto_package()

common/glog_component/README.md

@@ -0,0 +1,29 @@
+# glog_component
+
+This package provides the glog (google logging library) feature as a ros2 component library. This is used to dynamically load the glog feature with container.
+
+See the [glog github](https://github.com/google/glog) for the details of its features.
+
+## Example
+
+When you load the `glog_component` in container, the launch file can be like below:
+
+```py
+glog_component = ComposableNode(
+    package="glog_component",
+    plugin="GlogComponent",
+    name="glog_component",
+)
+
+container = ComposableNodeContainer(
+    name="my_container",
+    namespace="",
+    package="rclcpp_components",
+    executable=LaunchConfiguration("container_executable"),
+    composable_node_descriptions=[
+        component1,
+        component2,
+        glog_component,
+    ],
+)
+```

planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp → common/glog_component/include/glog_component/glog_component.hpp

@@ -12,18 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
-#define BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
+#ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_
+#define GLOG_COMPONENT__GLOG_COMPONENT_HPP_
 
-namespace behavior_path_planner
+#include <rclcpp/rclcpp.hpp>
+
+#include <glog/logging.h>
+
+class GlogComponent : public rclcpp::Node
 {
-enum class ModuleStatus {
-  IDLE = 0,
-  RUNNING = 1,
-  SUCCESS = 2,
-  FAILURE = 3,
-  // SKIPPED = 4,
+public:
+  explicit GlogComponent(const rclcpp::NodeOptions & node_options);
 };
-}  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
+#endif  // GLOG_COMPONENT__GLOG_COMPONENT_HPP_

sensing/geo_pos_conv/package.xml → common/glog_component/package.xml

@@ -1,20 +1,21 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>geo_pos_conv</name>
-  <version>2.0.0</version>
-  <description>The ROS 2 geo_pos_conv package</description>
-  <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
-
+  <name>glog_component</name>
+  <version>0.1.0</version>
+  <description>The glog_component package</description>
+  <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
 
+  <author email="takamasa.horibe@tier4.jp">Takamasa Horibe</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>libgoogle-glog-dev</depend>
   <depend>rclcpp</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
+  <depend>rclcpp_components</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

common/glog_component/src/glog_component.cpp

@@ -0,0 +1,25 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "glog_component/glog_component.hpp"
+
+GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options)
+: Node("glog_component", node_options)
+{
+  google::InitGoogleLogging("glog_component");
+  google::InstallFailureSignalHandler();
+}
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent)