Merge pull request autowarefoundation#18 from tier4/sync-upstream

Sync upstream

.github/PULL_REQUEST_TEMPLATE.md

@@ -46,5 +46,11 @@
 - [ ] Write [release notes][release-notes]
 - [ ] (When added something to `.repos`) Check if proper access rights are set
 
+## CI Checks
+
+- **vcs import**: Required to pass before the merge.
+- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary.
+
 [coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4
 [release-notes]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416
+[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute

.github/workflows/create-index-page.yml

@@ -0,0 +1,32 @@
+name: Create index page
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  create-index-page:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          ref: gh-pages
+
+      - name: Create index page
+        run: |
+          rm -f index.html
+          tree -H . -d -L 2 --noreport --charset utf-8 -T "Index" > index.html
+
+      - name: Set git config
+        run: |
+          git config --local user.email "actions@example.com"
+          git config --local user.name "Github Actions"
+
+      - name: Commit file
+        run: |
+          git add index.html
+          git commit -m "Add index.html" --allow-empty
+          git push origin gh-pages

.github/workflows/generate-docs.yml

@@ -4,13 +4,38 @@ on:
   push:
     branches:
       - main
+      - master
+    paths:
+      - "mkdocs.yml"
+      - "**/*.md"
+      - "**/*.svg"
+      - "**/*.png"
+      - "**/*.css"
+  pull_request:
+    branches:
+      - main
+      - master
+    paths:
+      - "mkdocs.yml"
+      - "**/*.md"
+      - "**/*.svg"
+      - "**/*.png"
+      - "**/*.css"
   workflow_dispatch:
 
+env:
+  GITHUB_PAGES_URL: https://tier4.github.io/autoware.proj
+
 jobs:
-  build:
+  generate-docs:
     runs-on: ubuntu-latest
 
     steps:
+      - name: Extract branch name
+        shell: bash
+        run: echo "::set-output name=branch::${GITHUB_REF#refs/heads/}"
+        id: extract_branch
+
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -34,13 +59,55 @@ jobs:
             pymdown-extensions \
             python-markdown-math
 
+      - name: Remove non-document files
+        run: |
+          find . -type f \
+              -not -path './.git' \
+              -not -path './mkdocs.yml' \
+              -not -name '*.md' \
+              -not -name '*.svg' \
+              -not -name '*.png' \
+              -not -name '*.css' \
+            | xargs -I {} rm "{}"
+
       - name: Build MkDocs
         run: |
           mkdocs build -f mkdocs.yml --verbose --clean
-          mv site public
+
+      - name: Print branch name (push)
+        if: ${{ !github.event.pull_request }}
+        run: |
+          echo "branch name: ${{ steps.extract_branch.outputs.branch }}"
+
+      - name: Move docs (push)
+        if: ${{ !github.event.pull_request }}
+        run: |
+          mkdir -p public/tree
+          mv site public/tree/${{ steps.extract_branch.outputs.branch }}
+
+      - name: Print PR number (pull_request)
+        if: ${{ github.event.pull_request }}
+        run: |
+          echo "PR number: ${{ github.event.pull_request.number }}"
+
+      - name: Move docs (pull_request)
+        if: ${{ github.event.pull_request }}
+        run: |
+          mkdir -p public/pulls
+          mv site public/pulls/${{ github.event.pull_request.number }}
 
       - name: Deploy
         uses: peaceiris/actions-gh-pages@v3
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: "public"
+          publish_dir: ./public
+          keep_files: true
+
+      - name: Comment PR
+        if: ${{ github.event.action == 'opened' }}
+        uses: peter-evans/create-or-update-comment@v1
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+          body: |
+            Documentation URL: ${{ env.GITHUB_PAGES_URL }}/pulls/${{ github.event.pull_request.number }}

.github/workflows/test-release-scripts.yml

@@ -14,11 +14,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -54,11 +49,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -134,11 +124,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -214,11 +199,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -299,11 +279,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 

ansible/roles/ros2/defaults/main.yml

@@ -2,4 +2,5 @@
 rosdistro: "foxy"
 package: "desktop"
 repository: "http://packages.ros.org/ros2/ubuntu"
-keyserver: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc"
+keyserver: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
+keyring_dest: "/usr/share/keyrings/ros-archive-keyring.gpg"

ansible/roles/ros2/tasks/main.yml

@@ -9,21 +9,22 @@
     update_cache: yes
   become: yes
 
-# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+# sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 - name: ROS2 (set up your keys)
-  apt_key:
+  get_url:
     url: "{{ keyserver }}"
+    dest: "{{ keyring_dest }}"
   become: yes
 
 # get architecture for ros2-repo
 - name: Get DEB architecture
   shell: dpkg --print-architecture
   register: deb_architecture
 
-# sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+# echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: ROS2 (add source list)
   apt_repository:
-    repo: "deb [arch={{ deb_architecture.stdout }}] {{ repository }} {{ ansible_lsb.codename }} main"
+    repo: "deb [arch={{ deb_architecture.stdout }} signed-by={{ keyring_dest }}] {{ repository }} {{ ansible_lsb.codename }} main"
     state: present
     update_cache: yes
   become: yes

autoware.proj.repos

@@ -160,6 +160,11 @@ repositories:
     type: git
     url: https://github.com/tier4/muSSP.git
     version: tier4/main
+  # ecu_system_setup
+  ecu_system_setup:
+    type: git
+    url: git@github.com:tier4/autoware_ecu_system_setup.git
+    version: main
 # calibration
 #  calibration/tunable_static_tf_broadcaster:
 #    type: git

design/Architecture.md

@@ -0,0 +1,7 @@
+# Architecture
+
+![Architecture](img/Architecture.drawio.svg)
+
+[View in fullscreen](https://www.draw.io/?lightbox=1#Uhttps%3A%2F%2Ftier4.github.io%2Fautoware.proj%2Ftree%2Fmain%2Fdesign%2Fimg%2FArchitecture.drawio.svg)
+
+Please check the detailed documentation [here](https://tier4.github.io/autoware.iv/tree/main).

docs/css/tier4_color.css

@@ -0,0 +1,6 @@
+:root {
+    --md-primary-fg-color:        #22a3cd;
+    --md-primary-fg-color--light: #22a3cd;
+    --md-primary-fg-color--dark:  #22a3cd;
+    --md-accent-fg-color:         #065479;
+}

mkdocs.yml

@@ -7,7 +7,7 @@ theme:
   name: material
   feature:
     tabs: true
-  favicon: images/tier4.png
+  favicon: docs/images/tier4.png
   icon:
     repo: fontawesome/brands/github
 extra:
@@ -38,5 +38,6 @@ markdown_extensions:
 
 extra_css:
   - "https://maxcdn.bootstrapcdn.com/font-awesome/4.6.1/css/font-awesome.min.css"
+  - docs/css/tier4_color.css
 extra_javascript:
   - "https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML"