Merge pull request #636 from tier4/sync-upstream

chore: sync upstream

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

@@ -0,0 +1,17 @@
+name: json-schema-check
+
+on:
+  pull_request:
+    paths:
+      - "**/schema/*.schema.json"
+      - "**/config/*.param.yaml"
+
+jobs:
+  json-schema-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@v1

.github/workflows/update-codeowners-from-packages.yaml

@@ -27,7 +27,6 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          global-codeowners: "@autowarefoundation/autoware-global-codeowners"
           pr-labels: |
             bot
             update-codeowners-from-packages

control/control_performance_analysis/config/controller_monitor.xml

@@ -287,7 +287,7 @@
        <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
         <range top="1278.960225" left="0.000000" bottom="-30.937311" right="59.925017"/>
         <limitY/>
-        <curve color="#9467bd" name="iae_longitudina_velocity_error"/>
+        <curve color="#9467bd" name="iae_longitudinal_velocity_error"/>
        </plot>
       </DockArea>
       <DockArea name="iae_longitudinal_acceleration_error">
@@ -381,15 +381,15 @@
   <plugin ID="DataLoad CSV">
    <default time_axis="" delimiter="0"/>
   </plugin>
-  <plugin ID="DataLoad ROS2 bags">
+  <plugin ID="DataLoad ROS 2 bags">
    <use_header_stamp value="false"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
    <boolean_strings_to_number value="true"/>
    <remove_suffix_from_strings value="true"/>
   </plugin>
   <plugin ID="DataLoad ULog"/>
-  <plugin ID="ROS2 Topic Subscriber">
+  <plugin ID="ROS 2 Topic Subscriber">
    <use_header_stamp value="false"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
@@ -405,14 +405,14 @@
    <scripts/>
   </plugin>
   <plugin ID="CSV Exporter"/>
-  <plugin ID="ROS2 Topic Re-Publisher"/>
+  <plugin ID="ROS 2 Topic Re-Publisher"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
  <previouslyLoaded_Datafiles/>
- <previouslyLoaded_Streamer name="ROS2 Topic Subscriber"/>
+ <previouslyLoaded_Streamer name="ROS 2 Topic Subscriber"/>
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="iae_longitudina_velocity_error">
+  <snippet name="iae_longitudinal_velocity_error">
    <global>sum = 0</global>
    <function>sum = sum + math.abs(value)
 

control/control_performance_analysis/config/error_rqt_multiplot.xml

@@ -726,7 +726,7 @@
                         <visible>true</visible>
                     </legend>
                     <plot_rate>30</plot_rate>
-                    <title> Measured and Computed  Steerings Plot</title>
+                    <title> Measured and Computed Steering Plot</title>
                 </column_2>
             </row_2>
             <row_3>

control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml

@@ -77,15 +77,15 @@
   <plugin ID="DataLoad CSV">
    <default time_axis="" delimiter="0"/>
   </plugin>
-  <plugin ID="DataLoad ROS2 bags">
+  <plugin ID="DataLoad ROS 2 bags">
    <use_header_stamp value="false"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
    <boolean_strings_to_number value="true"/>
    <remove_suffix_from_strings value="true"/>
   </plugin>
   <plugin ID="DataLoad ULog"/>
-  <plugin ID="ROS2 Topic Subscriber">
+  <plugin ID="ROS 2 Topic Subscriber">
    <use_header_stamp value="true"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
@@ -98,15 +98,15 @@
   <plugin ID="Fast Fourier Transform"/>
   <plugin ID="Quaternion to RPY"/>
   <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indices, not Lua indices&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
    <scripts/>
   </plugin>
   <plugin ID="CSV Exporter"/>
-  <plugin ID="ROS2 Topic Re-Publisher"/>
+  <plugin ID="ROS 2 Topic Re-Publisher"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
  <previouslyLoaded_Datafiles/>
- <previouslyLoaded_Streamer name="ROS2 Topic Subscriber"/>
+ <previouslyLoaded_Streamer name="ROS 2 Topic Subscriber"/>
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations/>
  <snippets/>

control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml

@@ -243,13 +243,13 @@
   <plugin ID="DataLoad CSV">
    <default time_axis=""/>
   </plugin>
-  <plugin ID="DataLoad ROS2 bags">
+  <plugin ID="DataLoad ROS 2 bags">
    <use_header_stamp value="false"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="99"/>
   </plugin>
   <plugin ID="DataLoad ULog"/>
-  <plugin ID="ROS2 Topic Subscriber">
+  <plugin ID="ROS 2 Topic Subscriber">
    <use_header_stamp value="false"/>
    <discard_large_arrays value="false"/>
    <max_array_size value="true"/>
@@ -263,11 +263,11 @@
   <plugin ID="WebSocket Server"/>
   <plugin ID="ZMQ Subscriber"/>
   <plugin status="idle" ID="CSV Exporter"/>
-  <plugin status="idle" ID="ROS2 Topic Re-Publisher"/>
+  <plugin status="idle" ID="ROS 2 Topic Re-Publisher"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
  <previouslyLoaded_Datafiles/>
- <previouslyLoaded_Streamer name="ROS2 Topic Subscriber"/>
+ <previouslyLoaded_Streamer name="ROS 2 Topic Subscriber"/>
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations/>
  <snippets/>

localization/yabloc/yabloc_pose_initializer/download.cmake

@@ -12,12 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+set(DOWNLOAD_ARTIFACTS OFF CACHE BOOL "enable artifacts download")
+
 set(DATA_URL "https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz")
 set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
 set(FILE_HASH 146ed8af689a30b898dc5369870c40fb)
 set(FILE_NAME "resources.tar.gz")
 
-function(download)
+function(download_and_extract)
   message(STATUS "Checking and downloading ${FILE_NAME}")
   set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
   set(STATUS_CODE 0)
@@ -38,25 +40,28 @@ function(download)
       list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
     endif()
   else()
-    message(STATUS "not found ${FILE_NAME}")
-    message(STATUS "File doesn't exists. Downloading now ...")
-    file(DOWNLOAD ${DATA_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
-    list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
-    list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    if(DOWNLOAD_ARTIFACTS)
+      message(STATUS "not found ${FILE_NAME}")
+      message(STATUS "File doesn't exists. Downloading now ...")
+      file(DOWNLOAD ${DATA_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    else()
+      message(WARNING "Skipped download for ${FILE_NAME} (enable by setting DOWNLOAD_ARTIFACTS)")
+      file(MAKE_DIRECTORY "${DATA_PATH}")
+      return()
+    endif()
   endif()
 
   if(${STATUS_CODE} EQUAL 0)
     message(STATUS "Download completed successfully!")
   else()
     message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
   endif()
-endfunction()
 
-function(extract)
   execute_process(COMMAND
     ${CMAKE_COMMAND} -E
     tar xzf "${DATA_PATH}/${FILE_NAME}" WORKING_DIRECTORY "${DATA_PATH}")
 endfunction()
 
-download()
-extract()
+download_and_extract()