diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 656d632f00f8..49da65cd8556 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -89,3 +89,11 @@
files:
- source: .github/workflows/deploy-docs.yaml
- source: .github/workflows/delete-closed-pr-docs.yaml
+ - source: mkdocs.yaml
+ pre-commands: |
+ sd "Autoware Documentation" "Autoware Universe Documentation" {source}
+ sd "autoware-documentation" "autoware.universe" {source}
+ sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware.universe" {source}
+ sd "/edit/main/docs/" "/edit/main/" {source}
+ sd "docs_dir: .*" "docs_dir: ." {source}
+ sd "assets/(\w+)" "docs/assets/\$1" {source}
diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_ad_api_specs/package.xml
index ca3d998617d9..d4d82faf4ee7 100644
--- a/common/autoware_ad_api_specs/package.xml
+++ b/common/autoware_ad_api_specs/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
ament_lint_auto
autoware_lint_common
diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml
index 17d666e2273e..59e2907e9150 100644
--- a/common/autoware_auto_common/package.xml
+++ b/common/autoware_auto_common/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
builtin_interfaces
eigen
diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml
index e19ac4897aab..73943452718f 100644
--- a/common/autoware_auto_geometry/package.xml
+++ b/common/autoware_auto_geometry/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_common
autoware_auto_geometry_msgs
diff --git a/common/autoware_auto_perception_rviz_plugin/package.xml b/common/autoware_auto_perception_rviz_plugin/package.xml
index 4771589dc903..c1ad3e3df140 100644
--- a/common/autoware_auto_perception_rviz_plugin/package.xml
+++ b/common/autoware_auto_perception_rviz_plugin/package.xml
@@ -12,8 +12,8 @@
Apache 2.0
ament_cmake
+ autoware_cmake
- autoware_cmake
libboost-dev
qtbase5-dev
diff --git a/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md b/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md
index 3befe575e3e7..aaa719d61737 100644
--- a/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md
+++ b/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md
@@ -8,7 +8,7 @@ In general, users of ROS rely on tf (and its successor, tf2) for publishing and
frame transforms. This is true even to the extent that the tf2 contains the packages
`tf2_geometry_msgs` and `tf2_sensor_msgs` which allow for easy conversion to and from the message
types defined in `geometry_msgs` and `sensor_msgs`, respectively. However, AutowareAuto contains
-some specialized message types which are not transformable between frames using the ROS2 library.
+some specialized message types which are not transformable between frames using the ROS 2 library.
The `autoware_auto_tf2` package aims to provide developers with tools to transform applicable
`autoware_auto_msgs` types. In addition to this, this package also provides transform tools for
messages types in `geometry_msgs` missing in `tf2_geometry_msgs`.
@@ -49,7 +49,7 @@ const ros::Time& tf2::getTimestamp(const T& t);
## Current Implementation of tf2_geometry_msgs
-In both ROS1 and ROS2 stamped msgs like `Vector3Stamped`, `QuaternionStamped` have associated
+In both ROS 1 and ROS 2 stamped msgs like `Vector3Stamped`, `QuaternionStamped` have associated
functions like:
- `getTimestamp`
@@ -58,13 +58,13 @@ functions like:
- `toMsg`
- `fromMsg`
-In ROS1, to support `tf2::convert` and need in `doTransform` of the stamped data, non-stamped
+In ROS 1, to support `tf2::convert` and need in `doTransform` of the stamped data, non-stamped
underlying data like `Vector3`, `Point`, have implementations of the following functions:
- `toMsg`
- `fromMsg`
-In ROS2, much of the `doTransform` method is not using `toMsg` and `fromMsg` as data types from tf2
+In ROS 2, much of the `doTransform` method is not using `toMsg` and `fromMsg` as data types from tf2
are not used. Instead `doTransform` is done using `KDL`, thus functions relating to underlying data
were not added; such as `Vector3`, `Point`, or ported in this commit ros/geometry2/commit/6f2a82.
The non-stamped data with `toMsg` and `fromMsg` are `Quaternion`, `Transform`. `Pose` has the
diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml
index c80ce45a217a..c7b620a9a737 100644
--- a/common/autoware_auto_tf2/package.xml
+++ b/common/autoware_auto_tf2/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_common
autoware_auto_geometry_msgs
diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
index 8829bd7538d9..e05b604e90d1 100644
--- a/common/autoware_point_types/package.xml
+++ b/common/autoware_point_types/package.xml
@@ -10,12 +10,11 @@
ament_cmake_core
ament_cmake_export_dependencies
ament_cmake_test
+ autoware_cmake
ament_cmake_core
ament_cmake_test
- autoware_cmake
-
ament_cmake_copyright
ament_cmake_cppcheck
ament_cmake_lint_cmake
diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml
index 30a27bb9435b..769942b43788 100644
--- a/common/autoware_testing/package.xml
+++ b/common/autoware_testing/package.xml
@@ -9,8 +9,7 @@
ament_cmake_auto
ament_cmake_lint_cmake
-
- autoware_cmake
+ autoware_cmake
ros_testing
diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/common/bag_time_manager_rviz_plugin/package.xml
index b12c24b728cd..f82d75b46e06 100644
--- a/common/bag_time_manager_rviz_plugin/package.xml
+++ b/common/bag_time_manager_rviz_plugin/package.xml
@@ -8,8 +8,8 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
libqt5-core
libqt5-gui
libqt5-widgets
diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml
index 54a0f1a66d5d..d4fe460a6dae 100644
--- a/common/component_interface_specs/package.xml
+++ b/common/component_interface_specs/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
diff --git a/common/component_interface_tools/package.xml b/common/component_interface_tools/package.xml
index a1eba3cb41e0..ebf0684d0066 100644
--- a/common/component_interface_tools/package.xml
+++ b/common/component_interface_tools/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
diagnostic_updater
fmt
diff --git a/common/component_interface_utils/package.xml b/common/component_interface_utils/package.xml
index b1f49fe40f40..a1803a35cc1c 100644
--- a/common/component_interface_utils/package.xml
+++ b/common/component_interface_utils/package.xml
@@ -11,8 +11,8 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
tier4_system_msgs
autoware_adapi_v1_msgs
diff --git a/common/cuda_utils/package.xml b/common/cuda_utils/package.xml
index 53127da0c1ff..4ae44469f1ef 100644
--- a/common/cuda_utils/package.xml
+++ b/common/cuda_utils/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
ament_lint_auto
autoware_lint_common
diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml
index 8e919d719fc6..78d53831670d 100644
--- a/common/fake_test_node/package.xml
+++ b/common/fake_test_node/package.xml
@@ -8,8 +8,7 @@
Apache 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
ament_cmake_ros
autoware_auto_common
diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml
index 97e679334e6c..5fa46351930c 100644
--- a/common/global_parameter_loader/package.xml
+++ b/common/global_parameter_loader/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
vehicle_info_util
diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml
index 941186daa063..49cb674f0a25 100644
--- a/common/goal_distance_calculator/package.xml
+++ b/common/goal_distance_calculator/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
geometry_msgs
diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml
index 5a39d818a323..e5d2c7af8d06 100644
--- a/common/interpolation/package.xml
+++ b/common/interpolation/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
tier4_autoware_utils
diff --git a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp b/common/kalman_filter/include/kalman_filter/kalman_filter.hpp
index 2ae8877aeea6..79a47bde3a1b 100644
--- a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp
+++ b/common/kalman_filter/include/kalman_filter/kalman_filter.hpp
@@ -15,8 +15,8 @@
#ifndef KALMAN_FILTER__KALMAN_FILTER_HPP_
#define KALMAN_FILTER__KALMAN_FILTER_HPP_
-#include
-#include
+#include
+#include
/**
* @file kalman_filter.h
diff --git a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp b/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp
index 1a072bb43d4a..cdc03f355885 100644
--- a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp
+++ b/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp
@@ -17,8 +17,8 @@
#include "kalman_filter/kalman_filter.hpp"
-#include
-#include
+#include
+#include
#include
diff --git a/common/kalman_filter/package.xml b/common/kalman_filter/package.xml
index f75755c17260..ea061f3f23bb 100644
--- a/common/kalman_filter/package.xml
+++ b/common/kalman_filter/package.xml
@@ -12,8 +12,8 @@
Takamasa Horibe
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
eigen
eigen3_cmake_module
diff --git a/common/motion_utils/package.xml b/common/motion_utils/package.xml
index ee6975e0caa8..834342624bfc 100644
--- a/common/motion_utils/package.xml
+++ b/common/motion_utils/package.xml
@@ -20,8 +20,7 @@
Satoshi Ota
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
autoware_auto_vehicle_msgs
diff --git a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp b/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp
index cabced5855d1..a919bc1f1c03 100644
--- a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp
+++ b/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp
@@ -15,10 +15,11 @@
#ifndef OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_
#define OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_
-#include "eigen3/Eigen/Core"
#include "osqp/glob_opts.h" // for 'c_int' type ('long' or 'long long')
#include "osqp_interface/visibility_control.hpp"
+#include
+
#include
namespace autoware
diff --git a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp b/common/osqp_interface/include/osqp_interface/osqp_interface.hpp
index fa9d491cd9c5..f126ba9329d3 100644
--- a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp
+++ b/common/osqp_interface/include/osqp_interface/osqp_interface.hpp
@@ -15,11 +15,11 @@
#ifndef OSQP_INTERFACE__OSQP_INTERFACE_HPP_
#define OSQP_INTERFACE__OSQP_INTERFACE_HPP_
-#include "eigen3/Eigen/Core"
#include "osqp/osqp.h"
#include "osqp_interface/csc_matrix_conv.hpp"
#include "osqp_interface/visibility_control.hpp"
+#include
#include
#include
diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml
index 643611ca4844..41ee5bb9055a 100644
--- a/common/osqp_interface/package.xml
+++ b/common/osqp_interface/package.xml
@@ -11,8 +11,7 @@
Apache 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
eigen
osqp_vendor
diff --git a/common/osqp_interface/src/csc_matrix_conv.cpp b/common/osqp_interface/src/csc_matrix_conv.cpp
index 051740e8974e..1944face4516 100644
--- a/common/osqp_interface/src/csc_matrix_conv.cpp
+++ b/common/osqp_interface/src/csc_matrix_conv.cpp
@@ -14,8 +14,8 @@
#include "osqp_interface/csc_matrix_conv.hpp"
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/SparseCore"
+#include
+#include
#include
#include
diff --git a/common/osqp_interface/test/test_csc_matrix_conv.cpp b/common/osqp_interface/test/test_csc_matrix_conv.cpp
index 50b8487c26d8..765f1a1afed3 100644
--- a/common/osqp_interface/test/test_csc_matrix_conv.cpp
+++ b/common/osqp_interface/test/test_csc_matrix_conv.cpp
@@ -12,10 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "eigen3/Eigen/Core"
#include "gtest/gtest.h"
#include "osqp_interface/csc_matrix_conv.hpp"
+#include
+
#include
#include
#include
diff --git a/common/osqp_interface/test/test_osqp_interface.cpp b/common/osqp_interface/test/test_osqp_interface.cpp
index cf96f0164baf..caa89c79d08e 100644
--- a/common/osqp_interface/test/test_osqp_interface.cpp
+++ b/common/osqp_interface/test/test_osqp_interface.cpp
@@ -12,10 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "eigen3/Eigen/Core"
#include "gtest/gtest.h"
#include "osqp_interface/osqp_interface.hpp"
+#include
+
#include
#include
diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml
index 997fbec2d4ef..b5e770a0ea62 100644
--- a/common/path_distance_calculator/package.xml
+++ b/common/path_distance_calculator/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
motion_utils
diff --git a/common/perception_utils/package.xml b/common/perception_utils/package.xml
index 5d1fa5cae84a..bc1d1b8b6bec 100644
--- a/common/perception_utils/package.xml
+++ b/common/perception_utils/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
geometry_msgs
diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml
index 75118d09ef5d..ece156669c85 100644
--- a/common/polar_grid/package.xml
+++ b/common/polar_grid/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/rtc_manager_rviz_plugin/package.xml b/common/rtc_manager_rviz_plugin/package.xml
index 6987e63c3c6e..53f00386bdb4 100644
--- a/common/rtc_manager_rviz_plugin/package.xml
+++ b/common/rtc_manager_rviz_plugin/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml
index 042471134da0..a8aae198f5ec 100644
--- a/common/signal_processing/package.xml
+++ b/common/signal_processing/package.xml
@@ -11,9 +11,9 @@
Takayuki Murooka
Ali BOYALI
- autoware_cmake
- libboost-dev
ament_cmake_auto
+ autoware_cmake
+ libboost-dev
geometry_msgs
rclcpp
libboost-dev
diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml
index a45a25898384..1645f30e43cd 100644
--- a/common/tier4_adapi_rviz_plugin/package.xml
+++ b/common/tier4_adapi_rviz_plugin/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
index bfbb36f9c50e..e8f0691a992d 100644
--- a/common/tier4_api_utils/package.xml
+++ b/common/tier4_api_utils/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
rclcpp
tier4_external_api_msgs
diff --git a/common/tier4_automatic_goal_rviz_plugin/package.xml b/common/tier4_automatic_goal_rviz_plugin/package.xml
index 11d263e09c78..deda078ace22 100644
--- a/common/tier4_automatic_goal_rviz_plugin/package.xml
+++ b/common/tier4_automatic_goal_rviz_plugin/package.xml
@@ -10,7 +10,7 @@
Dawid Moszyński
ament_cmake_auto
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
geometry_msgs
libqt5-core
diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
index 9e648c49e067..1577f292e796 100644
--- a/common/tier4_autoware_utils/package.xml
+++ b/common/tier4_autoware_utils/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
autoware_auto_planning_msgs
diff --git a/common/tier4_calibration_rviz_plugin/package.xml b/common/tier4_calibration_rviz_plugin/package.xml
index 2f8b13c4b979..f422847d8cb7 100644
--- a/common/tier4_calibration_rviz_plugin/package.xml
+++ b/common/tier4_calibration_rviz_plugin/package.xml
@@ -10,8 +10,7 @@
Tomoya Kimura
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-widgets
diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml
index 6b765e065421..73562a766ce0 100644
--- a/common/tier4_control_rviz_plugin/package.xml
+++ b/common/tier4_control_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_control_msgs
autoware_auto_vehicle_msgs
diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml
index d3fd7dcde4e2..6dc0c09b32a3 100644
--- a/common/tier4_datetime_rviz_plugin/package.xml
+++ b/common/tier4_datetime_rviz_plugin/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml
index bb1189c02555..45b73d5b9815 100644
--- a/common/tier4_debug_rviz_plugin/package.xml
+++ b/common/tier4_debug_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
index c2ff8cfca928..962fee8a370a 100644
--- a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
+++ b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
@@ -17,8 +17,8 @@
#define EIGEN_MPL2_ONLY
-#include
-#include
+#include
+#include
#include
#include
diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml
index d4a01d67a173..b7e0952b7217 100644
--- a/common/tier4_debug_tools/package.xml
+++ b/common/tier4_debug_tools/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
geometry_msgs
diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
index 6ef58b8e84dc..e103db19f1d4 100644
--- a/common/tier4_localization_rviz_plugin/package.xml
+++ b/common/tier4_localization_rviz_plugin/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
geometry_msgs
libqt5-core
diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
index 49a859e5c725..c4233bd6305e 100644
--- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
+++ b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
@@ -23,8 +23,8 @@
#include
#define EIGEN_MPL2_ONLY
-#include
-#include
+#include
+#include
#include
#include
diff --git a/common/tier4_perception_rviz_plugin/package.xml b/common/tier4_perception_rviz_plugin/package.xml
index bb130ceda42e..e6b022f730ef 100644
--- a/common/tier4_perception_rviz_plugin/package.xml
+++ b/common/tier4_perception_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
dummy_perception_publisher
libqt5-core
diff --git a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
index 5542f28f0c24..55c7a9c53d72 100644
--- a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
+++ b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
@@ -40,8 +40,8 @@
#include
#define EIGEN_MPL2_ONLY
-#include
-#include
+#include
+#include
#include
namespace
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index b4f49033c111..5dfa3605cfca 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
autoware_planning_msgs
diff --git a/common/tier4_screen_capture_rviz_plugin/package.xml b/common/tier4_screen_capture_rviz_plugin/package.xml
index 2f50771996ec..38479dc3c38e 100644
--- a/common/tier4_screen_capture_rviz_plugin/package.xml
+++ b/common/tier4_screen_capture_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libopencv-dev
libqt5-core
diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml
index d7fd09e57b0b..d80b18a5895b 100644
--- a/common/tier4_simulated_clock_rviz_plugin/package.xml
+++ b/common/tier4_simulated_clock_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libqt5-core
libqt5-gui
diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
index 6923bc5647d8..06d57bd947af 100644
--- a/common/tier4_state_rviz_plugin/package.xml
+++ b/common/tier4_state_rviz_plugin/package.xml
@@ -9,8 +9,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_system_msgs
diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
index 48bb671a49a2..ce21d7fefc79 100644
--- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
@@ -202,6 +202,7 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray::
velocity_factors_table_->setCellWidget(i, 3, label);
}
}
+ velocity_factors_table_->update();
}
void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::ConstSharedPtr msg)
@@ -317,6 +318,7 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::
steering_factors_table_->setCellWidget(i, 5, label);
}
}
+ steering_factors_table_->update();
}
} // namespace rviz_plugins
diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml
index 214c2994e957..21d8bae8f6cf 100644
--- a/common/tier4_traffic_light_rviz_plugin/package.xml
+++ b/common/tier4_traffic_light_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_auto_perception_msgs
diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
index 8f8e92029957..e4fb0095b8d0 100644
--- a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
+++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -360,6 +360,7 @@ void TrafficLightPublishPanel::onTimer()
traffic_table_->setCellWidget(i, 3, status_label);
traffic_table_->setCellWidget(i, 4, confidence_label);
}
+ traffic_table_->update();
}
void TrafficLightPublishPanel::onVectorMap(const HADMapBin::ConstSharedPtr msg)
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml
index 15d6609248a4..f6c131fdc99f 100644
--- a/common/tier4_vehicle_rviz_plugin/package.xml
+++ b/common/tier4_vehicle_rviz_plugin/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_vehicle_msgs
libqt5-core
diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml
index a248e72f125f..00832c1fd190 100644
--- a/common/time_utils/package.xml
+++ b/common/time_utils/package.xml
@@ -8,8 +8,8 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
builtin_interfaces
ament_cmake_ros
diff --git a/common/tvm_utility/package.xml b/common/tvm_utility/package.xml
index 9bc64ff554a7..c4fbf1c25ac8 100644
--- a/common/tvm_utility/package.xml
+++ b/common/tvm_utility/package.xml
@@ -27,7 +27,7 @@
Xinyu Wang
Apache License 2.0
- autoware_cmake
+ autoware_cmake
ament_index_cpp
libopenblas-dev
diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml
index e4e7da168b23..4f2ad6c50a9b 100644
--- a/control/autonomous_emergency_braking/package.xml
+++ b/control/autonomous_emergency_braking/package.xml
@@ -3,14 +3,13 @@
autonomous_emergency_braking
0.1.0
- Autonomous Emergency Braking package as a ROS2 node
+ Autonomous Emergency Braking package as a ROS 2 node
Yutaka Shimizu
Takamasa Horibe
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_control_msgs
autoware_auto_system_msgs
diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp
index 9934ce9b020f..529b31bd598f 100644
--- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp
+++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp
@@ -21,7 +21,7 @@
#include "control_performance_analysis/msg/float_stamped.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
-#include
+#include
#include
#include
diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp
index 019649927b5f..5a59af83d809 100644
--- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp
+++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp
@@ -15,8 +15,8 @@
#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
-#include
-#include
+#include
+#include
#include
#include
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index 4c83864bf918..b0a660844e84 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -19,9 +19,9 @@
Berkay Karaman
ament_cmake_auto
+ autoware_cmake
rosidl_default_generators
- autoware_cmake
builtin_interfaces
autoware_auto_control_msgs
diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml
index f6ca2e165b08..1b27c9f07915 100644
--- a/control/external_cmd_selector/package.xml
+++ b/control/external_cmd_selector/package.xml
@@ -17,8 +17,7 @@
Kenji Miyake
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_vehicle_msgs
diagnostic_updater
diff --git a/control/joy_controller/package.xml b/control/joy_controller/package.xml
index 7244c2432045..0c2defb2fc76 100644
--- a/control/joy_controller/package.xml
+++ b/control/joy_controller/package.xml
@@ -17,8 +17,7 @@
Kenji Miyake
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_control_msgs
autoware_auto_vehicle_msgs
diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml
index 0ade872d2ae0..617c391f2f28 100644
--- a/control/lane_departure_checker/package.xml
+++ b/control/lane_departure_checker/package.xml
@@ -10,8 +10,7 @@
Kenji Miyake
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_auto_planning_msgs
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
index b1b67e03f2ab..73603ec62ad8 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
@@ -15,12 +15,13 @@
#ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
#define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
-#include "eigen3/Eigen/Core"
#include "interpolation/linear_interpolation.hpp"
#include "interpolation/spline_interpolation.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2/utils.h"
+#include
+
#ifdef ROS_DISTRO_GALACTIC
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#else
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
index a189ecc2ea7c..b73d43ec68e5 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
@@ -15,9 +15,9 @@
#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/Dense"
-#include "eigen3/Eigen/LU"
+#include
+#include
+#include
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
index 8b7158610b38..5258dc5f3f89 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
@@ -15,11 +15,12 @@
#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
-#include "eigen3/Eigen/Dense"
#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
#include "osqp_interface/osqp_interface.hpp"
#include "rclcpp/rclcpp.hpp"
+#include
+
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp
index 0130cf6c4a27..692ae0c14a43 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp
@@ -15,11 +15,12 @@
#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/Dense"
-#include "eigen3/Eigen/LU"
#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include
+#include
+#include
+
#include
namespace autoware::motion::control::mpc_lateral_controller
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
index b167efe28d81..c35e39de67b4 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
@@ -47,10 +47,11 @@
#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/LU"
#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include
+#include
+
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
index 244ded818a1a..ea843afaf727 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
@@ -41,10 +41,11 @@
#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/LU"
#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include
+#include
+
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
index 133c4df251fe..1dafb1e0bb65 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
@@ -38,10 +38,11 @@
#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/LU"
#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include
+#include
+
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
index 36a5be08b29f..1bef540460a6 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
@@ -15,7 +15,7 @@
#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
-#include "eigen3/Eigen/Core"
+#include
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/package.xml b/control/mpc_lateral_controller/package.xml
index 04a80ef9d908..da03c4481e78 100644
--- a/control/mpc_lateral_controller/package.xml
+++ b/control/mpc_lateral_controller/package.xml
@@ -15,8 +15,7 @@
Takayuki Murooka
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_control_msgs
autoware_auto_planning_msgs
diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml
index e7a51abdac59..8a202ac68922 100644
--- a/control/obstacle_collision_checker/package.xml
+++ b/control/obstacle_collision_checker/package.xml
@@ -18,8 +18,7 @@
Satoshi Tanaka
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_planning_msgs
boost
diff --git a/control/operation_mode_transition_manager/package.xml b/control/operation_mode_transition_manager/package.xml
index 86dc23b6c036..dbe9a21c1186 100644
--- a/control/operation_mode_transition_manager/package.xml
+++ b/control/operation_mode_transition_manager/package.xml
@@ -8,7 +8,7 @@
Takamasa Horibe
- autoware_cmake
+ autoware_cmake
rosidl_default_generators
autoware_auto_control_msgs
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
index e918ee9836c9..5584e1e79e97 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
+++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
@@ -15,12 +15,12 @@
#ifndef PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
#define PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/Geometry"
#include "interpolation/linear_interpolation.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
#include "tf2/utils.h"
+#include
+#include
#include // NOLINT
#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
index 4112171633af..c2dbc67f011d 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
+++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -16,8 +16,6 @@
#define PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
#include "diagnostic_updater/diagnostic_updater.hpp"
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/Geometry"
#include "pid_longitudinal_controller/debug_values.hpp"
#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
#include "pid_longitudinal_controller/lowpass_filter.hpp"
@@ -30,6 +28,9 @@
#include "trajectory_follower_base/longitudinal_controller_base.hpp"
#include "vehicle_info_util/vehicle_info_util.hpp"
+#include
+#include
+
#include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
#include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
diff --git a/control/pid_longitudinal_controller/package.xml b/control/pid_longitudinal_controller/package.xml
index e8825eaab177..0c2da18f9185 100644
--- a/control/pid_longitudinal_controller/package.xml
+++ b/control/pid_longitudinal_controller/package.xml
@@ -15,8 +15,7 @@
Takayuki Murooka
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_control_msgs
diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml
index d2b3ed292c7c..ef0810c695ea 100644
--- a/control/pure_pursuit/package.xml
+++ b/control/pure_pursuit/package.xml
@@ -12,8 +12,8 @@
Takamasa Horibe
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
autoware_auto_control_msgs
autoware_auto_planning_msgs
boost
diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml
index c5bcfccb0ad4..b24dbab1786e 100644
--- a/control/shift_decider/package.xml
+++ b/control/shift_decider/package.xml
@@ -10,8 +10,7 @@
Takamasa Horibe
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_control_msgs
autoware_auto_system_msgs
diff --git a/control/trajectory_follower_base/package.xml b/control/trajectory_follower_base/package.xml
index b3e6a53228fb..d896f874a3a2 100644
--- a/control/trajectory_follower_base/package.xml
+++ b/control/trajectory_follower_base/package.xml
@@ -17,8 +17,7 @@
Takayuki Murooka
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_control_msgs
diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
index 6fc7a0cbedc5..4868fa7a6f51 100644
--- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
+++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
@@ -15,8 +15,6 @@
#ifndef TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
#define TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
-#include "eigen3/Eigen/Core"
-#include "eigen3/Eigen/Geometry"
#include "rclcpp/rclcpp.hpp"
#include "tf2/utils.h"
#include "tf2_ros/buffer.h"
@@ -26,6 +24,9 @@
#include "trajectory_follower_node/visibility_control.hpp"
#include "vehicle_info_util/vehicle_info_util.hpp"
+#include
+#include
+
#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
#include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml
index 303df922a295..8673634e2405 100644
--- a/control/trajectory_follower_node/package.xml
+++ b/control/trajectory_follower_node/package.xml
@@ -17,8 +17,7 @@
Takayuki Murooka
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_control_msgs
diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml
index 92d6911c8f69..f2a3fc83e8d6 100644
--- a/control/vehicle_cmd_gate/package.xml
+++ b/control/vehicle_cmd_gate/package.xml
@@ -11,8 +11,7 @@
Hiroki OTA
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_control_msgs
diff --git a/evaluator/diagnostic_converter/package.xml b/evaluator/diagnostic_converter/package.xml
index c561cfcac6c6..be9266f39b6e 100644
--- a/evaluator/diagnostic_converter/package.xml
+++ b/evaluator/diagnostic_converter/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
diagnostic_msgs
pluginlib
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index e761a53cb629..a83538cdb319 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -2,15 +2,14 @@
kinematic_evaluator
0.1.0
- kinematic evaluator ROS2 node
+ kinematic evaluator ROS 2 node
Dominik Jargot
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
autoware_auto_planning_msgs
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index 7f99d100233b..30b2bf0980fa 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -2,15 +2,14 @@
localization_evaluator
0.1.0
- localization evaluator ROS2 node
+ localization evaluator ROS 2 node
Dominik Jargot
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
autoware_auto_planning_msgs
diff --git a/evaluator/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml
index ef2bca288c8b..fb3270fb0d89 100644
--- a/evaluator/planning_evaluator/package.xml
+++ b/evaluator/planning_evaluator/package.xml
@@ -3,7 +3,7 @@
planning_evaluator
0.1.0
- ROS2 node for evaluating planners
+ ROS 2 node for evaluating planners
Maxime CLEMENT
Kyoichi Sugahara
Apache License 2.0
@@ -11,8 +11,7 @@
Maxime CLEMENT
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
autoware_auto_planning_msgs
diff --git a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp
index 46ad5c79b8b4..b9b86e6bd2d1 100644
--- a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp
+++ b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp
@@ -14,9 +14,10 @@
#include "planning_evaluator/metrics/obstacle_metrics.hpp"
-#include "eigen3/Eigen/Core"
#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include
+
#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
#include
diff --git a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp
index 931764f5bb66..abd3ca558495 100644
--- a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp
+++ b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp
@@ -14,10 +14,11 @@
#include "planning_evaluator/metrics/stability_metrics.hpp"
-#include "eigen3/Eigen/Core"
#include "motion_utils/trajectory/trajectory.hpp"
#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include
+
#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
#include
diff --git a/launch/map4_localization_launch/package.xml b/launch/map4_localization_launch/package.xml
index 9e93f8869c35..dc390a6a9086 100644
--- a/launch/map4_localization_launch/package.xml
+++ b/launch/map4_localization_launch/package.xml
@@ -13,8 +13,7 @@
Ryohei Sasaki
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
automatic_pose_initializer
eagleye_fix2pose
diff --git a/launch/tier4_autoware_api_launch/README.md b/launch/tier4_autoware_api_launch/README.md
index fe409160f8e5..2b3d6fc032d6 100644
--- a/launch/tier4_autoware_api_launch/README.md
+++ b/launch/tier4_autoware_api_launch/README.md
@@ -18,4 +18,4 @@ You can include as follows in `*.launch.xml` to use `autoware_api.launch.xml`.
## Notes
-For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 )
+For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 )
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index 55b57dbda5a7..bed0b9e58ca7 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -12,8 +12,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
ad_api_adaptors
autoware_iv_external_api_adaptor
diff --git a/launch/tier4_control_launch/README.md b/launch/tier4_control_launch/README.md
index 2d2a6487986b..939b45626f3c 100644
--- a/launch/tier4_control_launch/README.md
+++ b/launch/tier4_control_launch/README.md
@@ -27,4 +27,4 @@ Note that you should provide parameter paths as `PACKAGE_param_path`. The list o
## Notes
-For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 )
+For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 )
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index c658b29ccd30..7a0945e00b21 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -347,7 +347,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("check_external_emergency_heartbeat")
# component
- add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
+ add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication")
add_launch_arg("use_multithread", "false", "use multithread")
set_container_executable = SetLaunchConfiguration(
"container_executable",
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 108e43915b26..4bfefa4d9374 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -9,8 +9,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
external_cmd_converter
external_cmd_selector
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index dd58311afe2d..ef9f25e43cf9 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -114,7 +114,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
],
"path to the parameter file of random_downsample_filter",
)
- add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
+ add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
add_launch_arg(
"pointcloud_container_name",
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
index 6e0cb19fe5e7..c1e0b4641256 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.xml
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index 7c15e1be21be..5d060f884c01 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -12,8 +12,7 @@
Yamato Ando
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
automatic_pose_initializer
ekf_localizer
diff --git a/launch/tier4_map_launch/README.md b/launch/tier4_map_launch/README.md
index 5e98593a9bec..904f20f3a744 100644
--- a/launch/tier4_map_launch/README.md
+++ b/launch/tier4_map_launch/README.md
@@ -32,4 +32,4 @@ Note that you should provide parameter paths as `PACKAGE_param_path`. The list o
## Notes
-For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 )
+For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 )
diff --git a/launch/tier4_map_launch/launch/map.launch.py b/launch/tier4_map_launch/launch/map.launch.py
index 955a8658e853..f9459be3b892 100644
--- a/launch/tier4_map_launch/launch/map.launch.py
+++ b/launch/tier4_map_launch/launch/map.launch.py
@@ -172,7 +172,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
None,
"path to pointcloud_map_loader param file",
),
- add_launch_arg("use_intra_process", "false", "use ROS2 component container communication"),
+ add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication"),
add_launch_arg("use_multithread", "false", "use multithread"),
set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml
index b4e3303e23c5..6f7595083826 100644
--- a/launch/tier4_map_launch/package.xml
+++ b/launch/tier4_map_launch/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
map_loader
map_tf_generator
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 7beb8128d8aa..1140d643a708 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
compare_map_segmentation
crosswalk_traffic_light_estimator
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 85cf24e92619..87481744fdaa 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -321,7 +321,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("use_experimental_lane_change_function")
# component
- add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
+ add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication")
add_launch_arg("use_multithread", "false", "use multithread")
# for points filter of run out module
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 03bf4479c813..bceb9aff0564 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -274,7 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
"cruise_planner_type"
) # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none"
- add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
+ add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication")
add_launch_arg("use_multithread", "false", "use multithread")
set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py
index d56fecb4f6a0..7dfcbb0307bf 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py
@@ -136,7 +136,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
)
# component
- add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
+ add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication")
add_launch_arg("use_multithread", "false", "use multithread")
set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index c17e94a86568..69deacf4dfb7 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -52,8 +52,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
behavior_path_planner
behavior_velocity_planner
diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml
index c35082aa7c1b..a1f10ee743db 100644
--- a/launch/tier4_sensing_launch/package.xml
+++ b/launch/tier4_sensing_launch/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
vehicle_info_util
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index 8094f95d78b1..f08d0737b8c4 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -12,8 +12,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
dummy_perception_publisher
fault_injection
diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml
index c301c17137b9..5e3fc3ff061f 100644
--- a/launch/tier4_system_launch/package.xml
+++ b/launch/tier4_system_launch/package.xml
@@ -10,8 +10,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
component_state_monitor
emergency_handler
diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml
index 501316732d67..779975d3e1ae 100644
--- a/launch/tier4_vehicle_launch/package.xml
+++ b/launch/tier4_vehicle_launch/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
robot_state_publisher
xacro
diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
index 129798e0e8b5..4826b6daa17f 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/ekf_localizer/package.xml
@@ -12,9 +12,9 @@
Takamasa Horibe
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
- autoware_cmake
eigen
fmt
diff --git a/localization/ekf_localizer/test/src/test_ekf_localizer.cpp b/localization/ekf_localizer/test/src/test_ekf_localizer.cpp
index ceb9d520a75b..f249dffef603 100644
--- a/localization/ekf_localizer/test/src/test_ekf_localizer.cpp
+++ b/localization/ekf_localizer/test/src/test_ekf_localizer.cpp
@@ -14,8 +14,8 @@
#include "ekf_localizer/ekf_localizer.hpp"
-#include
-#include
+#include
+#include
#include
#include
diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml
index 5aa85a8c4afe..26781513ff2f 100644
--- a/localization/gyro_odometer/package.xml
+++ b/localization/gyro_odometer/package.xml
@@ -3,14 +3,13 @@
gyro_odometer
0.1.0
- The gyro_odometer package as a ROS2 node
+ The gyro_odometer package as a ROS 2 node
Yamato Ando
Apache License 2.0
Yamato Ando
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
fmt
geometry_msgs
diff --git a/localization/initial_pose_button_panel/package.xml b/localization/initial_pose_button_panel/package.xml
index f71486a2f337..2db87fe645fb 100644
--- a/localization/initial_pose_button_panel/package.xml
+++ b/localization/initial_pose_button_panel/package.xml
@@ -10,8 +10,7 @@
Yamato ANDO
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
geometry_msgs
libqt5-core
diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml
index f8a2a69a0155..4c563f0b30ab 100644
--- a/localization/localization_error_monitor/package.xml
+++ b/localization/localization_error_monitor/package.xml
@@ -10,8 +10,7 @@
Taichi Higashide
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
diagnostic_msgs
diagnostic_updater
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp
index a83e8db02f52..038ed4549eb2 100644
--- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp
+++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp
@@ -15,7 +15,7 @@
#ifndef NDT_SCAN_MATCHER__MATRIX_TYPE_HPP_
#define NDT_SCAN_MATCHER__MATRIX_TYPE_HPP_
-#include
+#include
using Matrix6d = Eigen::Matrix;
using RowMatrixXd = Eigen::Matrix;
diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index 581879322caf..17db6b17d4a4 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -11,8 +11,7 @@
Yamato Ando
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_map_msgs
diagnostic_msgs
diff --git a/localization/pose2twist/package.xml b/localization/pose2twist/package.xml
index 9425983d5b97..ed044bd28590 100644
--- a/localization/pose2twist/package.xml
+++ b/localization/pose2twist/package.xml
@@ -9,8 +9,7 @@
Yamato Ando
ament_cmake
-
- autoware_cmake
+ autoware_cmake
geometry_msgs
rclcpp
diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml
index de9b54dddecd..cb519c49e633 100644
--- a/localization/pose_initializer/package.xml
+++ b/localization/pose_initializer/package.xml
@@ -11,8 +11,7 @@
Takagi, Isamu
ament_cmake
-
- autoware_cmake
+ autoware_cmake
component_interface_specs
component_interface_utils
diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml
index c547a90381d9..b0beeb475895 100644
--- a/localization/stop_filter/package.xml
+++ b/localization/stop_filter/package.xml
@@ -10,8 +10,7 @@
Koji Minoda
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
geometry_msgs
nav_msgs
diff --git a/localization/twist2accel/package.xml b/localization/twist2accel/package.xml
index 8b25f5909675..dc54311b3a1d 100644
--- a/localization/twist2accel/package.xml
+++ b/localization/twist2accel/package.xml
@@ -10,8 +10,7 @@
Koji Minoda
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
geometry_msgs
nav_msgs
diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml
index dfb6a88944fc..ab4f5ce20538 100644
--- a/map/map_height_fitter/package.xml
+++ b/map/map_height_fitter/package.xml
@@ -10,8 +10,7 @@
Takagi, Isamu
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_map_msgs
geometry_msgs
diff --git a/map/map_loader/README.md b/map/map_loader/README.md
index ebb63315ff85..10d94b87893a 100644
--- a/map/map_loader/README.md
+++ b/map/map_loader/README.md
@@ -134,7 +134,7 @@ The node projects lan/lon coordinates into MGRS coordinates.
### Feature
-lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray. There are 3 types of map can be loaded in autoware. Please makesure you selected the correct lanelet2_map_projector_type when you launch this package.
+lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray. There are 3 types of map can be loaded in autoware. Please make sure you selected the correct lanelet2_map_projector_type when you launch this package.
- MGRS
- UTM
@@ -159,5 +159,5 @@ lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messa
| lanelet2_map_projector_type | std::string | The type of the map projector using, can be MGRS, UTM, local | MGRS |
| latitude | double | Latitude of map_origin, only using in UTM map projector | 0.0 |
| longitude | double | Longitude of map_origin, only using in UTM map projector | 0.0 |
-| center_line_resolution | double | Define the reolution of the lanelet center line | 5.0 |
+| center_line_resolution | double | Define the resolution of the lanelet center line | 5.0 |
| lanelet2_map_path | std::string | The lanelet2 map path | None |
diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
index 4fa5cc415679..22cccc16f537 100644
--- a/map/map_loader/package.xml
+++ b/map/map_loader/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_map_msgs
diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml
index 201d7c6c99c0..6dc68911699a 100644
--- a/map/map_tf_generator/package.xml
+++ b/map/map_tf_generator/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
lanelet2_extension
libpcl-all-dev
diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml
index 216dffe81744..15f061369e64 100644
--- a/map/util/lanelet2_map_preprocessor/package.xml
+++ b/map/util/lanelet2_map_preprocessor/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
lanelet2_extension
pcl_ros
diff --git a/mkdocs.yaml b/mkdocs.yaml
index d448ab04c9a4..bf7d2569d83b 100644
--- a/mkdocs.yaml
+++ b/mkdocs.yaml
@@ -1,9 +1,9 @@
site_name: Autoware Universe Documentation
site_url: https://autowarefoundation.github.io/autoware.universe
repo_url: https://github.com/autowarefoundation/autoware.universe
-edit_uri: edit/main/
+edit_uri: https://github.com/autowarefoundation/autoware.universe/edit/main/
docs_dir: .
-copyright: Copyright © 2022 The Autoware Foundation
+copyright: Copyright © 2023 The Autoware Foundation
theme:
name: material
@@ -54,10 +54,12 @@ plugins:
- ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?gif|(.*\.)?jpg).*$
- ^(.*/)?[^.]*$
- macros
+ - mkdocs-video
- same-dir
- search
markdown_extensions:
+ - abbr
- admonition
- attr_list
- codehilite:
@@ -72,7 +74,14 @@ markdown_extensions:
server: http://www.plantuml.com/plantuml
format: svg
- pymdownx.arithmatex
+ - pymdownx.details
+ - pymdownx.emoji:
+ emoji_index: !!python/name:materialx.emoji.twemoji
+ emoji_generator: !!python/name:materialx.emoji.to_svg
- pymdownx.highlight
+ - pymdownx.snippets:
+ auto_append:
+ - includes/abbreviations.md
- pymdownx.superfences:
custom_fences:
- name: mermaid
@@ -80,3 +89,4 @@ markdown_extensions:
format: !!python/name:pymdownx.superfences.fence_code_format
- toc:
permalink: "#"
+ toc_depth: 3
diff --git a/perception/bytetrack/CMakeLists.txt b/perception/bytetrack/CMakeLists.txt
index 3e3d520eef14..e481464455a5 100644
--- a/perception/bytetrack/CMakeLists.txt
+++ b/perception/bytetrack/CMakeLists.txt
@@ -29,6 +29,7 @@ target_include_directories(bytetrack_lib
$
$
)
+target_link_libraries(bytetrack_lib Eigen3::Eigen)
#
# ROS node
diff --git a/perception/bytetrack/lib/include/data_type.h b/perception/bytetrack/lib/include/data_type.h
index d76baa894563..896e021538ca 100644
--- a/perception/bytetrack/lib/include/data_type.h
+++ b/perception/bytetrack/lib/include/data_type.h
@@ -38,8 +38,8 @@
#pragma once
-#include
-#include
+#include
+#include
#include
#include
diff --git a/perception/bytetrack/lib/src/kalman_filter.cpp b/perception/bytetrack/lib/src/kalman_filter.cpp
index bc1a88ff60b0..e515450858d8 100644
--- a/perception/bytetrack/lib/src/kalman_filter.cpp
+++ b/perception/bytetrack/lib/src/kalman_filter.cpp
@@ -38,7 +38,7 @@
#include "kalman_filter.h"
-#include
+#include
namespace byte_kalman
{
diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml
index 3968d6cb97f7..6b3891438c17 100644
--- a/perception/bytetrack/package.xml
+++ b/perception/bytetrack/package.xml
@@ -8,13 +8,12 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
cudnn_cmake_module
cudnn_cmake_module
tensorrt_cmake_module
- autoware_cmake
-
autoware_auto_perception_msgs
cuda_utils
cv_bridge
diff --git a/perception/compare_map_segmentation/package.xml b/perception/compare_map_segmentation/package.xml
index bd2bccf69ebf..fc6806ddaa84 100644
--- a/perception/compare_map_segmentation/package.xml
+++ b/perception/compare_map_segmentation/package.xml
@@ -15,8 +15,7 @@
William Woodall
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_map_msgs
component_interface_specs
diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml
index d4147643eb7b..1a3b90f617f4 100644
--- a/perception/crosswalk_traffic_light_estimator/package.xml
+++ b/perception/crosswalk_traffic_light_estimator/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_auto_perception_msgs
diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml
index b609ff0257f1..44571a3c18dd 100644
--- a/perception/detected_object_feature_remover/package.xml
+++ b/perception/detected_object_feature_remover/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
rclcpp
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index a2d82f0facd1..a63ecdec8cc4 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -3,15 +3,15 @@
detected_object_validation
1.0.0
- The ROS2 detected_object_validation package
+ The ROS 2 detected_object_validation package
Yukihiro Saito
Shunsuke Miura
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
- autoware_cmake
libopencv-dev
autoware_auto_mapping_msgs
diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml
index 55398adef1e7..44d62e37e958 100644
--- a/perception/detection_by_tracker/package.xml
+++ b/perception/detection_by_tracker/package.xml
@@ -3,16 +3,15 @@
detection_by_tracker
1.0.0
- The ROS2 detection_by_tracker package
+ The ROS 2 detection_by_tracker package
Yukihiro Saito
Yoshi Ri
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
- autoware_cmake
-
eigen
euclidean_cluster
libpcl-all-dev
diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml
index 0e2ea81f9f28..6e271b8528c4 100644
--- a/perception/elevation_map_loader/package.xml
+++ b/perception/elevation_map_loader/package.xml
@@ -9,8 +9,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_map_msgs
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 3f5e0ab62449..20a9c3cc89a8 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -51,7 +51,7 @@ def load_composable_node_param(param_path):
parameters=[load_composable_node_param("compare_map_param_path")],
)
- # separate range of poincloud when map_filter used
+ # separate range of pointcloud when map_filter used
use_map_short_range_crop_box_filter_component = ComposableNode(
package="pointcloud_preprocessor",
namespace=ns,
diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml
index d99c923d9192..56be3c3fc5bc 100644
--- a/perception/euclidean_cluster/package.xml
+++ b/perception/euclidean_cluster/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
compare_map_segmentation
diff --git a/perception/front_vehicle_velocity_estimator/package.xml b/perception/front_vehicle_velocity_estimator/package.xml
index 32cf88555804..3b1af8cf544a 100644
--- a/perception/front_vehicle_velocity_estimator/package.xml
+++ b/perception/front_vehicle_velocity_estimator/package.xml
@@ -10,6 +10,7 @@
Satoshi Tanaka
ament_cmake_auto
+ autoware_cmake
autoware_auto_perception_msgs
geometry_msgs
@@ -22,7 +23,6 @@
sensor_msgs
tier4_autoware_utils
- autoware_cmake
ament_lint_auto
autoware_lint_common
diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml
index cdbab9ee5bd6..c44f30aa0899 100644
--- a/perception/ground_segmentation/package.xml
+++ b/perception/ground_segmentation/package.xml
@@ -3,7 +3,7 @@
ground_segmentation
0.1.0
- The ROS2 ground_segmentation package
+ The ROS 2 ground_segmentation package
amc-nu
Yukihiro Saito
Shunsuke Miura
@@ -16,8 +16,7 @@
William Woodall
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
libopencv-dev
pcl_conversions
diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
index bdc01106899f..4b2e81d272e3 100644
--- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -244,7 +244,7 @@ void RayGroundFilterComponent::ClassifyPointCloud(
}
}
-// [ROS2-port]: removed
+// [ROS 2-port]: removed
// bool RayGroundFilterComponent::child_init()
// {
// // Enable the dynamic reconfigure service
diff --git a/perception/heatmap_visualizer/package.xml b/perception/heatmap_visualizer/package.xml
index 7578fe4ba2df..0a7db1ae4278 100644
--- a/perception/heatmap_visualizer/package.xml
+++ b/perception/heatmap_visualizer/package.xml
@@ -9,8 +9,7 @@
Kotaro Uetake
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
geometry_msgs
diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml
index e2b141542b92..ef2c4644ae44 100644
--- a/perception/image_projection_based_fusion/package.xml
+++ b/perception/image_projection_based_fusion/package.xml
@@ -9,8 +9,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
cv_bridge
diff --git a/perception/lidar_apollo_instance_segmentation/README.md b/perception/lidar_apollo_instance_segmentation/README.md
index 43ecae088013..2d86b695d247 100644
--- a/perception/lidar_apollo_instance_segmentation/README.md
+++ b/perception/lidar_apollo_instance_segmentation/README.md
@@ -140,4 +140,4 @@ Supported lidars are velodyne 16, 64 and 128, but you can also use velodyne 32 a
- [Apollo Project](https://github.com/ApolloAuto/apollo)
- [lewes6369](https://github.com/lewes6369)
- [Autoware Foundation](https://github.com/autowarefoundation/autoware)
-- [Kosuke Takeuchi](https://github.com/kosuke55) (TierIV Part timer)
+- [Kosuke Takeuchi](https://github.com/kosuke55) (TIER IV)
diff --git a/perception/lidar_apollo_segmentation_tvm/package.xml b/perception/lidar_apollo_segmentation_tvm/package.xml
index 8dd64a199e0a..f4f283abe945 100755
--- a/perception/lidar_apollo_segmentation_tvm/package.xml
+++ b/perception/lidar_apollo_segmentation_tvm/package.xml
@@ -9,8 +9,8 @@
Apache 2.0
ament_cmake_auto
+ autoware_cmake
- autoware_cmake
libpcl-all-dev
autoware_auto_perception_msgs
diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml
index b43cb23effcd..b6c6cb261eb2 100755
--- a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml
+++ b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml
@@ -10,8 +10,7 @@
ament_cmake
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
lidar_apollo_segmentation_tvm
rclcpp
diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml
index 879013189b24..49f51a648dcf 100644
--- a/perception/lidar_centerpoint/package.xml
+++ b/perception/lidar_centerpoint/package.xml
@@ -10,8 +10,7 @@
ament_cmake_auto
ament_cmake_python
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
pcl_ros
diff --git a/perception/lidar_centerpoint_tvm/package.xml b/perception/lidar_centerpoint_tvm/package.xml
index 22c4bd65ee65..058db088ef33 100644
--- a/perception/lidar_centerpoint_tvm/package.xml
+++ b/perception/lidar_centerpoint_tvm/package.xml
@@ -9,8 +9,7 @@
Apache 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
pcl_ros
diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml
index d5e31348e0a5..33abfe814c49 100644
--- a/perception/map_based_prediction/package.xml
+++ b/perception/map_based_prediction/package.xml
@@ -11,8 +11,7 @@
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
interpolation
diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
index f924b73f6491..b8732b656187 100644
--- a/perception/multi_object_tracker/package.xml
+++ b/perception/multi_object_tracker/package.xml
@@ -3,16 +3,15 @@
multi_object_tracker
1.0.0
- The ROS2 multi_object_tracker package
+ The ROS 2 multi_object_tracker package
Yukihiro Saito
Yoshi Ri
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
- autoware_cmake
-
autoware_auto_perception_msgs
eigen
kalman_filter
diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml
index c35b3f837f36..927f5c69f54e 100644
--- a/perception/object_merger/package.xml
+++ b/perception/object_merger/package.xml
@@ -9,10 +9,9 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
- autoware_cmake
-
autoware_auto_perception_msgs
eigen
mussp
diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml
index 9a2ac13b3511..d2bb2b401fb2 100644
--- a/perception/object_range_splitter/package.xml
+++ b/perception/object_range_splitter/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
rclcpp
diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml
index 26d2a8634043..07820d5625fc 100644
--- a/perception/occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/occupancy_grid_map_outlier_filter/package.xml
@@ -3,7 +3,7 @@
occupancy_grid_map_outlier_filter
0.1.0
- The ROS2 occupancy_grid_map_outlier_filter package
+ The ROS 2 occupancy_grid_map_outlier_filter package
amc-nu
Yukihiro Saito
Yoshi Ri
@@ -15,8 +15,7 @@
William Woodall
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_vehicle_msgs
diagnostic_updater
diff --git a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
index fd12d7529bcc..31e6fd8cce8f 100644
--- a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
@@ -17,8 +17,8 @@
#include "updater/occupancy_grid_map_updater_interface.hpp"
-#include
-#include
+#include
+#include
namespace costmap_2d
{
diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml
index d3b5c71b652d..2bd3a9aa8133 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/probabilistic_occupancy_grid_map/package.xml
@@ -11,8 +11,7 @@
Yukihiro Saito
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
eigen3_cmake_module
laser_geometry
diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/radar_fusion_to_detected_object/package.xml
index f7c7e10062e7..21641be7b3b7 100644
--- a/perception/radar_fusion_to_detected_object/package.xml
+++ b/perception/radar_fusion_to_detected_object/package.xml
@@ -10,6 +10,7 @@
Satoshi Tanaka
ament_cmake_auto
+ autoware_cmake
autoware_auto_perception_msgs
eigen
@@ -20,7 +21,6 @@
std_msgs
tier4_autoware_utils
- autoware_cmake
ament_lint_common
autoware_lint_common
diff --git a/perception/radar_tracks_msgs_converter/package.xml b/perception/radar_tracks_msgs_converter/package.xml
index 84ee931b7950..4092125cde33 100644
--- a/perception/radar_tracks_msgs_converter/package.xml
+++ b/perception/radar_tracks_msgs_converter/package.xml
@@ -10,6 +10,7 @@
Satoshi Tanaka
ament_cmake_auto
+ autoware_cmake
autoware_auto_perception_msgs
geometry_msgs
@@ -22,7 +23,6 @@
tf2_ros
tier4_autoware_utils
- autoware_cmake
ament_lint_auto
autoware_lint_common
diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml
index 0c4a2ae9aa15..334b6cc2af12 100644
--- a/perception/shape_estimation/package.xml
+++ b/perception/shape_estimation/package.xml
@@ -3,14 +3,13 @@
shape_estimation
0.1.0
- This package implements a shape estimation algorithm as a ROS2 node
+ This package implements a shape estimation algorithm as a ROS 2 node
Yukihiro Saito
Yoshi Ri
Apache License 2.0
ament_cmake
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
builtin_interfaces
diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml
index 68ca942435e0..8a6756449b70 100755
--- a/perception/tensorrt_yolo/package.xml
+++ b/perception/tensorrt_yolo/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
cv_bridge
diff --git a/perception/tensorrt_yolox/package.xml b/perception/tensorrt_yolox/package.xml
index 09b36fa768bd..9f107363d6f5 100644
--- a/perception/tensorrt_yolox/package.xml
+++ b/perception/tensorrt_yolox/package.xml
@@ -11,14 +11,13 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
cudnn_cmake_module
tensorrt_cmake_module
cudnn_cmake_module
tensorrt_cmake_module
- autoware_cmake
-
autoware_auto_perception_msgs
cuda_utils
cv_bridge
diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml
index 923de8c43bd3..2f7b07962a23 100644
--- a/perception/traffic_light_classifier/package.xml
+++ b/perception/traffic_light_classifier/package.xml
@@ -9,10 +9,9 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
wget
- autoware_cmake
-
autoware_auto_perception_msgs
cv_bridge
image_transport
diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml
index 46220572ae9a..3b19413e5ecd 100644
--- a/perception/traffic_light_map_based_detector/package.xml
+++ b/perception/traffic_light_map_based_detector/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_auto_perception_msgs
diff --git a/perception/traffic_light_selector/package.xml b/perception/traffic_light_selector/package.xml
index 62374ddb7c0b..75796ac3cd71 100644
--- a/perception/traffic_light_selector/package.xml
+++ b/perception/traffic_light_selector/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_mapping_msgs
autoware_auto_perception_msgs
diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md
index cf32c027e6af..ffc135c76d37 100644
--- a/perception/traffic_light_ssd_fine_detector/README.md
+++ b/perception/traffic_light_ssd_fine_detector/README.md
@@ -12,7 +12,7 @@ The model is based on [pytorch-ssd](https://github.com/qfgaohao/pytorch-ssd) and
### Training Data
-The model was fine-tuned on 1750 TierIV internal images of Japanese traffic lights.
+The model was fine-tuned on 1750 TIER IV internal images of Japanese traffic lights.
### Trained Onnx model
diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml
index 95ce29227b6f..49f67d171295 100644
--- a/perception/traffic_light_ssd_fine_detector/package.xml
+++ b/perception/traffic_light_ssd_fine_detector/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
cv_bridge
diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml
index f16ddba51989..d90cf992b96b 100644
--- a/perception/traffic_light_visualization/package.xml
+++ b/perception/traffic_light_visualization/package.xml
@@ -8,8 +8,7 @@
Apache License 2.0
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_auto_perception_msgs
cv_bridge
diff --git a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
index 5a840098e595..3c5846edf3ee 100644
--- a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
+++ b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
@@ -1,96 +1,108 @@
/**:
ros__parameters:
goal_planner:
+ # general params
minimum_request_length: 100.0
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
- pull_over_velocity: 3.0
- pull_over_minimum_velocity: 1.38
- margin_from_boundary: 0.5
- decide_path_distance: 10.0
- maximum_deceleration: 1.0
- maximum_jerk: 1.0
+
# goal search
- search_priority: "efficient_path" # "efficient_path" or "close_goal"
- parking_policy: "left_side" # "left_side" or "right_side"
- forward_goal_search_length: 20.0
- backward_goal_search_length: 20.0
- goal_search_interval: 2.0
- longitudinal_margin: 3.0
- max_lateral_offset: 0.5
- lateral_offset_interval: 0.25
- ignore_distance_from_lane_start: 15.0
+ goal_search:
+ search_priority: "efficient_path" # "efficient_path" or "close_goal"
+ parking_policy: "left_side" # "left_side" or "right_side"
+ forward_goal_search_length: 20.0
+ backward_goal_search_length: 20.0
+ goal_search_interval: 2.0
+ longitudinal_margin: 3.0
+ max_lateral_offset: 0.5
+ lateral_offset_interval: 0.25
+ ignore_distance_from_lane_start: 15.0
+ margin_from_boundary: 0.5
+
# occupancy grid map
- use_occupancy_grid: true
- use_occupancy_grid_for_longitudinal_margin: false
- occupancy_grid_collision_check_margin: 0.0
- theta_size: 360
- obstacle_threshold: 60
+ occupancy_grid:
+ use_occupancy_grid: true
+ use_occupancy_grid_for_longitudinal_margin: false
+ occupancy_grid_collision_check_margin: 0.0
+ theta_size: 360
+ obstacle_threshold: 60
+
# object recognition
- use_object_recognition: true
- object_recognition_collision_check_margin: 1.0
- # shift path
- enable_shift_parking: true
- pull_over_sampling_num: 4
- maximum_lateral_jerk: 2.0
- minimum_lateral_jerk: 0.5
- deceleration_interval: 15.0
- after_pull_over_straight_distance: 1.0
- # freespace parking
- enable_freespace_parking: true
- freespace_parking:
- planning_algorithm: "astar" # options: astar, rrtstar
- velocity: 1.0
- vehicle_shape_margin: 1.0
- time_limit: 3000.0
- minimum_turning_radius: 5.0
- maximum_turning_radius: 5.0
- turning_radius_size: 1
- # search configs
- theta_size: 144
- angle_goal_range: 6.0
- curve_weight: 1.2
- reverse_weight: 1.0
- lateral_goal_range: 0.5
- longitudinal_goal_range: 2.0
- # costmap configs
- obstacle_threshold: 30
- # -- A* search Configurations --
- astar:
- only_behind_solutions: false
- use_back: false
- distance_heuristic_weight: 1.0
- # -- RRT* search Configurations --
- rrtstar:
- enable_update: true
- use_informed_sampling: true
- max_planning_time: 150.0
- neighbor_radius: 8.0
- margin: 1.0
- # parallel parking path
- enable_arc_forward_parking: true
- enable_arc_backward_parking: true
- after_forward_parking_straight_distance: 2.0
- after_backward_parking_straight_distance: 2.0
- forward_parking_velocity: 1.38
- backward_parking_velocity: -1.38
- forward_parking_lane_departure_margin: 0.0
- backward_parking_lane_departure_margin: 0.0
- arc_path_interval: 1.0
- pull_over_max_steer_angle: 0.35 # 20deg
- # hazard on when parked
- hazard_on_threshold_distance: 1.0
- hazard_on_threshold_velocity: 0.5
- # check safety with dynamic objects. Not used now.
- pull_over_duration: 2.0
- pull_over_prepare_duration: 4.0
- min_stop_distance: 5.0
- stop_time: 2.0
- hysteresis_buffer_distance: 2.0
- prediction_time_resolution: 0.5
- enable_collision_check_at_prepare_phase: false
- use_predicted_path_outside_lanelet: false
- use_all_predicted_path: false
+ object_recognition:
+ use_object_recognition: true
+ object_recognition_collision_check_margin: 1.0
+
+ # pull over
+ pull_over:
+ pull_over_velocity: 3.0
+ pull_over_minimum_velocity: 1.38
+ decide_path_distance: 10.0
+ maximum_deceleration: 1.0
+ maximum_jerk: 1.0
+
+ # shift parking
+ shift_parking:
+ enable_shift_parking: true
+ shift_sampling_num: 4
+ maximum_lateral_jerk: 2.0
+ minimum_lateral_jerk: 0.5
+ deceleration_interval: 15.0
+ after_shift_straight_distance: 1.0
+
+ # parallel parking path
+ parallel_parking:
+ path_interval: 1.0
+ max_steer_angle: 0.35 # 20deg
+ forward:
+ enable_arc_forward_parking: true
+ after_forward_parking_straight_distance: 2.0
+ forward_parking_velocity: 1.38
+ forward_parking_lane_departure_margin: 0.0
+ forward_parking_path_interval: 1.0
+ forward_parking_max_steer_angle: 0.35 # 20deg
+ backward:
+ enable_arc_backward_parking: true
+ after_backward_parking_straight_distance: 2.0
+ backward_parking_velocity: -1.38
+ backward_parking_lane_departure_margin: 0.0
+ backward_parking_path_interval: 1.0
+ backward_parking_max_steer_angle: 0.35 # 20deg
+
+ # freespace parking
+ freespace_parking:
+ enable_freespace_parking: true
+ freespace_parking_algorithm: "astar" # options: astar, rrtstar
+ velocity: 1.0
+ vehicle_shape_margin: 1.0
+ time_limit: 3000.0
+ minimum_turning_radius: 5.0
+ maximum_turning_radius: 5.0
+ turning_radius_size: 1
+ # search configs
+ search_configs:
+ theta_size: 144
+ angle_goal_range: 6.0
+ curve_weight: 1.2
+ reverse_weight: 1.0
+ lateral_goal_range: 0.5
+ longitudinal_goal_range: 2.0
+ # costmap configs
+ costmap_configs:
+ obstacle_threshold: 30
+ # -- A* search Configurations --
+ astar:
+ only_behind_solutions: false
+ use_back: false
+ distance_heuristic_weight: 1.0
+ # -- RRT* search Configurations --
+ rrtstar:
+ enable_update: true
+ use_informed_sampling: true
+ max_planning_time: 150.0
+ neighbor_radius: 8.0
+ margin: 1.0
+
# debug
- print_debug_info: false
+ debug:
+ print_debug_info: false
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
index 06f81758f163..d92754608915 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
@@ -153,14 +153,14 @@ The lateral jerk is searched for among the predetermined minimum and maximum val
#### Parameters for shift parking
-| Name | Unit | Type | Description | Default value |
-| :-------------------------------- | :----- | :----- | :------------------------------------------------------------------ | :------------ |
-| enable_shift_parking | [-] | bool | flag whether to enable shift parking | true |
-| pull_over_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
-| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
-| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.5 |
-| deceleration_interval | [m] | double | distance of deceleration section | 15.0 |
-| after_pull_over_straight_distance | [m] | double | straight line distance after pull over end point | 5.0 |
+| Name | Unit | Type | Description | Default value |
+| :---------------------------- | :----- | :----- | :------------------------------------------------------------------ | :------------ |
+| enable_shift_parking | [-] | bool | flag whether to enable shift parking | true |
+| shift_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
+| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
+| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.5 |
+| deceleration_interval | [m] | double | distance of deceleration section | 15.0 |
+| after_shift_straight_distance | [m] | double | straight line distance after pull over end point | 5.0 |
### **geometric parallel parking**
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
index e69de29bb2d1..12a757649304 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
@@ -0,0 +1 @@
+# Interface design
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index be7f4c69f5c5..037c470c23dc 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -185,12 +185,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node
void onLateralOffset(const LateralOffset::ConstSharedPtr msg);
SetParametersResult onSetParam(const std::vector & parameters);
- /**
- * @brief Modify the path points near the goal to smoothly connect the lanelet and the goal point.
- */
- PathWithLaneId modifyPathForSmoothGoalConnection(
- const PathWithLaneId & path,
- const std::shared_ptr & planner_data) const; // (TODO) move to util
OnSetParametersCallbackHandle::SharedPtr m_set_param_res;
/**
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp
index f4ae0870f14b..f179b9013970 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp
@@ -84,8 +84,6 @@ class BehaviorTreeManager
uint16_t max_msg_per_second = 25);
void resetGrootMonitor();
-
- bool isEgoOutOfRoute(const std::shared_ptr & data) const;
};
} // namespace behavior_path_planner
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
index e10646204589..2f989d6215fc 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -98,12 +98,12 @@ class PlannerManager
}
/**
- * @brief publish all registered modules' debug markers.
+ * @brief publish all registered modules' markers.
*/
- void publishDebugMarker() const
+ void publishMarker() const
{
std::for_each(
- manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->publishDebugMarker(); });
+ manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->publishMarker(); });
}
/**
@@ -354,8 +354,6 @@ class PlannerManager
const std::vector & request_modules, const std::shared_ptr & data,
const BehaviorModuleOutput & previous_module_output);
- bool isEgoOutOfRoute(const std::shared_ptr & data) const;
-
boost::optional root_lanelet_{boost::none};
std::vector manager_ptrs_;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
index 500e37b293a9..c458fd16a707 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -165,7 +165,6 @@ class GoalPlannerModule : public SceneModuleInterface
bool incrementPathIndex();
PathWithLaneId getCurrentPath() const;
Pose calcRefinedGoal(const Pose & goal_pose) const;
- ParallelParkingParameters getGeometricGoalPlannerParameters() const;
double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const;
void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const;
void decelerateBeforeSearchStart(const Pose & search_start_pose, PathWithLaneId & path) const;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
index 1546015d5479..63720996782f 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
@@ -117,7 +117,6 @@ class PullOutModule : public SceneModuleInterface
std::shared_ptr getCurrentPlanner() const;
PathWithLaneId getFullPath() const;
- ParallelParkingParameters getGeometricPullOutParameters() const;
std::vector searchPullOutStartPoses();
std::shared_ptr lane_departure_checker_;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 1b9f837d5a90..e08116928c9e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -79,6 +79,11 @@ class SceneModuleInterface
pub_debug_marker_ = node.create_publisher(ns, 20);
}
+ {
+ const auto ns = std::string("~/info/") + utils::convertToSnakeCase(name);
+ pub_info_marker_ = node.create_publisher(ns, 20);
+ }
+
{
const auto ns = std::string("~/virtual_wall/") + utils::convertToSnakeCase(name);
pub_virtual_wall_ = node.create_publisher(ns, 20);
@@ -277,6 +282,8 @@ class SceneModuleInterface
virtual void setData(const std::shared_ptr & data) { planner_data_ = data; }
#ifdef USE_OLD_ARCHITECTURE
+ void publishInfoMarker() { pub_info_marker_->publish(info_marker_); }
+
void publishDebugMarker() { pub_debug_marker_->publish(debug_marker_); }
void publishVirtualWall()
@@ -322,7 +329,9 @@ class SceneModuleInterface
PlanResult getPathReference() const { return path_reference_; }
- MarkerArray getDebugMarkers() { return debug_marker_; }
+ MarkerArray getInfoMarkers() const { return info_marker_; }
+
+ MarkerArray getDebugMarkers() const { return debug_marker_; }
ModuleStatus getCurrentStatus() const { return current_state_; }
@@ -375,6 +384,7 @@ class SceneModuleInterface
rclcpp::Logger logger_;
#ifdef USE_OLD_ARCHITECTURE
+ rclcpp::Publisher::SharedPtr pub_info_marker_;
rclcpp::Publisher::SharedPtr pub_debug_marker_;
rclcpp::Publisher::SharedPtr pub_virtual_wall_;
#endif
@@ -477,6 +487,8 @@ class SceneModuleInterface
mutable boost::optional dead_pose_{boost::none};
+ mutable MarkerArray info_marker_;
+
mutable MarkerArray debug_marker_;
};
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
index 665c9eaf7c80..44606dc72819 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
@@ -64,6 +64,7 @@ class SceneModuleManagerInterface
rtc_type, std::make_shared(node, rtc_interface_name));
}
+ pub_info_marker_ = node->create_publisher("~/info/" + name, 20);
pub_debug_marker_ = node->create_publisher("~/debug/" + name, 20);
pub_virtual_wall_ = node->create_publisher("~/virtual_wall/" + name, 20);
}
@@ -153,28 +154,37 @@ class SceneModuleManagerInterface
pub_virtual_wall_->publish(markers);
}
- void publishDebugMarker() const
+ void publishMarker() const
{
using tier4_autoware_utils::appendMarkerArray;
- MarkerArray markers{};
+ MarkerArray info_markers{};
+ MarkerArray debug_markers{};
const auto marker_offset = std::numeric_limits::max();
uint32_t marker_id = marker_offset;
for (const auto & m : registered_modules_) {
+ for (auto & marker : m->getInfoMarkers().markers) {
+ marker.id += marker_id;
+ info_markers.markers.push_back(marker);
+ }
+
for (auto & marker : m->getDebugMarkers().markers) {
marker.id += marker_id;
- markers.markers.push_back(marker);
+ debug_markers.markers.push_back(marker);
}
+
marker_id += marker_offset;
}
if (registered_modules_.empty() && idling_module_ != nullptr) {
- appendMarkerArray(idling_module_->getDebugMarkers(), &markers);
+ appendMarkerArray(idling_module_->getInfoMarkers(), &info_markers);
+ appendMarkerArray(idling_module_->getDebugMarkers(), &debug_markers);
}
- pub_debug_marker_->publish(markers);
+ pub_info_marker_->publish(info_markers);
+ pub_debug_marker_->publish(debug_markers);
}
bool exist(const SceneModulePtr & module_ptr) const
@@ -229,6 +239,8 @@ class SceneModuleManagerInterface
rclcpp::Logger logger_;
+ rclcpp::Publisher::SharedPtr pub_info_marker_;
+
rclcpp::Publisher::SharedPtr pub_debug_marker_;
rclcpp::Publisher::SharedPtr pub_virtual_wall_;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
index b5cc03897e2f..18bf7ad54e70 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
@@ -49,17 +49,27 @@ struct ParallelParkingParameters
{
double th_arrived_distance;
double th_stopped_velocity;
+ double maximum_deceleration;
+
+ // forward parking
double after_forward_parking_straight_distance;
- double after_backward_parking_straight_distance;
double forward_parking_velocity;
+ double forward_parking_lane_departure_margin;
+ double forward_parking_path_interval;
+ double forward_parking_max_steer_angle;
+
+ // backward parking
+ double after_backward_parking_straight_distance;
double backward_parking_velocity;
- double departing_velocity;
double backward_parking_lane_departure_margin;
- double forward_parking_lane_departure_margin;
- double departing_lane_departure_margin;
- double arc_path_interval;
- double maximum_deceleration;
- double max_steer_angle;
+ double backward_parking_path_interval;
+ double backward_parking_max_steer_angle;
+
+ // pull_out
+ double pull_out_velocity;
+ double pull_out_lane_departure_margin;
+ double pull_out_path_interval;
+ double pull_out_max_steer_angle;
};
class GeometricParallelParking
@@ -72,9 +82,14 @@ class GeometricParallelParking
bool planPullOut(
const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes,
const lanelet::ConstLanelets & shoulder_lanes);
- void setData(
- const std::shared_ptr & planner_data,
- const ParallelParkingParameters & parameters);
+ void setParameters(const ParallelParkingParameters & parameters) { parameters_ = parameters; }
+ void setPlannerData(const std::shared_ptr & planner_data)
+ {
+ planner_data_ = planner_data;
+ }
+ void setTurningRadius(
+ const BehaviorPathPlannerParameters & common_params, const double max_steer_angle);
+
void incrementPathIndex();
std::vector getArcPaths() const { return arc_paths_; }
@@ -103,10 +118,11 @@ class GeometricParallelParking
std::vector planOneTrial(
const Pose & start_pose, const Pose & goal_pose, const double R_E_r,
const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes,
- bool is_forward, const double end_pose_offset, const double lane_departure_margin);
+ bool is_forward, const double end_pose_offset, const double lane_departure_margin,
+ const double arc_path_interval);
PathWithLaneId generateArcPath(
const Pose & center, const double radius, const double start_yaw, double end_yaw,
- const bool is_left_turn, const bool is_forward);
+ const double arc_path_interval, const bool is_left_turn, const bool is_forward);
PathPointWithLaneId generateArcPathPoint(
const Pose & center, const double radius, const double yaw, const bool is_left_turn,
const bool is_forward);
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp
index 6177a6197a14..aee78930d2e1 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp
@@ -34,7 +34,6 @@ class GeometricPullOver : public PullOverPlannerBase
public:
GeometricPullOver(
rclcpp::Node & node, const GoalPlannerParameters & parameters,
- const ParallelParkingParameters & parallel_parking_parameters,
const LaneDepartureChecker & lane_departure_checker,
const std::shared_ptr occupancy_grid_map,
const bool is_forward);
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp
index ff091a88ed44..6da7c131a281 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp
@@ -16,6 +16,8 @@
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+
#include
#include
#include
@@ -37,14 +39,12 @@ enum class ParkingPolicy {
struct GoalPlannerParameters
{
+ // general params
double minimum_request_length;
double th_arrived_distance;
double th_stopped_velocity;
double th_stopped_time;
- double margin_from_boundary;
- double decide_path_distance;
- double maximum_deceleration;
- double maximum_jerk;
+
// goal search
std::string search_priority; // "efficient_path" or "close_goal"
ParkingPolicy parking_policy; // "left_side" or "right_side"
@@ -55,60 +55,50 @@ struct GoalPlannerParameters
double max_lateral_offset;
double lateral_offset_interval;
double ignore_distance_from_lane_start;
+ double margin_from_boundary;
+
// occupancy grid map
bool use_occupancy_grid;
bool use_occupancy_grid_for_longitudinal_margin;
double occupancy_grid_collision_check_margin;
int theta_size;
int obstacle_threshold;
+
// object recognition
bool use_object_recognition;
double object_recognition_collision_check_margin;
+
+ // pull over general params
+ double pull_over_velocity;
+ double pull_over_minimum_velocity;
+ double decide_path_distance;
+ double maximum_deceleration;
+ double maximum_jerk;
+
// shift path
bool enable_shift_parking;
- int pull_over_sampling_num;
+ int shift_sampling_num;
double maximum_lateral_jerk;
double minimum_lateral_jerk;
double deceleration_interval;
- double pull_over_velocity;
- double pull_over_minimum_velocity;
- double after_pull_over_straight_distance;
+ double after_shift_straight_distance;
+
// parallel parking
bool enable_arc_forward_parking;
bool enable_arc_backward_parking;
- double after_forward_parking_straight_distance;
- double after_backward_parking_straight_distance;
- double forward_parking_velocity;
- double backward_parking_velocity;
- double forward_parking_lane_departure_margin;
- double backward_parking_lane_departure_margin;
- double arc_path_interval;
- double pull_over_max_steer_angle;
+ ParallelParkingParameters parallel_parking_parameters;
+
// freespace parking
bool enable_freespace_parking;
- // hazard
- double hazard_on_threshold_distance;
- double hazard_on_threshold_velocity;
- // check safety with dynamic objects. Not used now.
- double pull_over_duration;
- double pull_over_prepare_duration;
- double min_stop_distance;
- double stop_time;
- double hysteresis_buffer_distance;
- double prediction_time_resolution;
- bool enable_collision_check_at_prepare_phase;
- bool use_predicted_path_outside_lanelet;
- bool use_all_predicted_path;
- // debug
- bool print_debug_info;
-
- // freespace pull over
- std::string algorithm;
+ std::string freespace_parking_algorithm;
double freespace_parking_velocity;
double vehicle_shape_margin;
- PlannerCommonParam common_parameters;
+ PlannerCommonParam freespace_parking_common_parameters;
AstarParam astar_parameters;
RRTStarParam rrt_star_parameters;
+
+ // debug
+ bool print_debug_info;
};
} // namespace behavior_path_planner
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
index 788b37448c4a..0ab6bd465fb2 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
@@ -26,9 +26,7 @@ namespace behavior_path_planner
class GeometricPullOut : public PullOutPlannerBase
{
public:
- explicit GeometricPullOut(
- rclcpp::Node & node, const PullOutParameters & parameters,
- const ParallelParkingParameters & parallel_parking_parameters);
+ explicit GeometricPullOut(rclcpp::Node & node, const PullOutParameters & parameters);
PlannerType getPlannerType() override { return PlannerType::GEOMETRIC; };
boost::optional plan(Pose start_pose, Pose goal_pose) override;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
index ce4629bf9da1..0fc7d367718e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
@@ -16,6 +16,8 @@
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+
#include
#include
@@ -39,14 +41,11 @@ struct PullOutParameters
// geometric pull out
bool enable_geometric_pull_out;
bool divide_pull_out_path;
- double geometric_pull_out_velocity;
- double arc_path_interval;
- double lane_departure_margin;
- double backward_velocity;
- double pull_out_max_steer_angle;
+ ParallelParkingParameters parallel_parking_parameters;
// search start pose backward
std::string search_priority; // "efficient_path" or "short_back_distance"
bool enable_back;
+ double backward_velocity;
double max_back_distance;
double backward_search_resolution;
double backward_path_update_duration;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
index fe9dd875b629..edb30eb88373 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -298,6 +298,10 @@ PathWithLaneId createGoalAroundPath(
bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes);
+bool isEgoOutOfRoute(
+ const Pose & self_pose, const std::optional & modified_goal,
+ const std::shared_ptr & route_handler);
+
// path management
// TODO(Horibe) There is a similar function in route_handler. Check.
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 9f2743e1cefa..b5585151869d 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -39,8 +39,7 @@
Ryohsuke Mitsudome
ament_cmake_auto
-
- autoware_cmake
+ autoware_cmake
autoware_adapi_v1_msgs
autoware_auto_perception_msgs
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 4170f6b63e46..e58c71f00fc6 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -761,17 +761,18 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam()
{
GoalPlannerParameters p;
+ // general params
{
std::string ns = "goal_planner.";
p.minimum_request_length = declare_parameter(ns + "minimum_request_length");
p.th_stopped_velocity = declare_parameter(ns + "th_stopped_velocity");
p.th_arrived_distance = declare_parameter(ns + "th_arrived_distance");
p.th_stopped_time = declare_parameter(ns + "th_stopped_time");
- p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary");
- p.decide_path_distance = declare_parameter(ns + "decide_path_distance");
- p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration");
- p.maximum_jerk = declare_parameter(ns + "maximum_jerk");
- // goal search
+ }
+
+ // goal search
+ {
+ std::string ns = "goal_planner.goal_search.";
p.search_priority = declare_parameter(ns + "search_priority");
p.forward_goal_search_length = declare_parameter(ns + "forward_goal_search_length");
p.backward_goal_search_length = declare_parameter(ns + "backward_goal_search_length");
@@ -781,7 +782,24 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam()
p.lateral_offset_interval = declare_parameter(ns + "lateral_offset_interval");
p.ignore_distance_from_lane_start =
declare_parameter(ns + "ignore_distance_from_lane_start");
- // occupancy grid map
+ p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary");
+
+ const std::string parking_policy_name = declare_parameter(ns + "parking_policy");
+ if (parking_policy_name == "left_side") {
+ p.parking_policy = ParkingPolicy::LEFT_SIDE;
+ } else if (parking_policy_name == "right_side") {
+ p.parking_policy = ParkingPolicy::RIGHT_SIDE;
+ } else {
+ RCLCPP_ERROR_STREAM(
+ get_logger(),
+ "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl);
+ exit(EXIT_FAILURE);
+ }
+ }
+
+ // occupancy grid map
+ {
+ std::string ns = "goal_planner.occupancy_grid.";
p.use_occupancy_grid = declare_parameter(ns + "use_occupancy_grid");
p.use_occupancy_grid_for_longitudinal_margin =
declare_parameter(ns + "use_occupancy_grid_for_longitudinal_margin");
@@ -789,116 +807,118 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam()
declare_parameter(ns + "occupancy_grid_collision_check_margin");
p.theta_size = declare_parameter(ns + "theta_size");
p.obstacle_threshold = declare_parameter(ns + "obstacle_threshold");
- // object recognition
+ }
+
+ // object recognition
+ {
+ std::string ns = "goal_planner.object_recognition.";
p.use_object_recognition = declare_parameter(ns + "use_object_recognition");
p.object_recognition_collision_check_margin =
declare_parameter(ns + "object_recognition_collision_check_margin");
- // shift path
+ }
+
+ // pull over general params
+ {
+ std::string ns = "goal_planner.pull_over.";
+ p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity");
+ p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity");
+ p.decide_path_distance = declare_parameter(ns + "decide_path_distance");
+ p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration");
+ p.maximum_jerk = declare_parameter(ns + "maximum_jerk");
+ }
+
+ // shift parking
+ {
+ std::string ns = "goal_planner.pull_over.shift_parking.";
p.enable_shift_parking = declare_parameter(ns + "enable_shift_parking");
- p.pull_over_sampling_num = declare_parameter(ns + "pull_over_sampling_num");
+ p.shift_sampling_num = declare_parameter(ns + "shift_sampling_num");
p.maximum_lateral_jerk = declare_parameter(ns + "maximum_lateral_jerk");
p.minimum_lateral_jerk = declare_parameter(ns + "minimum_lateral_jerk");
p.deceleration_interval = declare_parameter(ns + "deceleration_interval");
- p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity");
- p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity");
- p.after_pull_over_straight_distance =
- declare_parameter(ns + "after_pull_over_straight_distance");
- // parallel parking
+ p.after_shift_straight_distance =
+ declare_parameter(ns + "after_shift_straight_distance");
+ }
+
+ // forward parallel parking forward
+ {
+ std::string ns = "goal_planner.pull_over.parallel_parking.forward.";
p.enable_arc_forward_parking = declare_parameter(ns + "enable_arc_forward_parking");
- p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking");
- p.after_forward_parking_straight_distance =
+ p.parallel_parking_parameters.after_forward_parking_straight_distance =
declare_parameter(ns + "after_forward_parking_straight_distance");
- p.after_backward_parking_straight_distance =
- declare_parameter(ns + "after_backward_parking_straight_distance");
- p.forward_parking_velocity = declare_parameter(ns + "forward_parking_velocity");
- p.backward_parking_velocity = declare_parameter(ns + "backward_parking_velocity");
- p.forward_parking_lane_departure_margin =
+ p.parallel_parking_parameters.forward_parking_velocity =
+ declare_parameter(ns + "forward_parking_velocity");
+ p.parallel_parking_parameters.forward_parking_lane_departure_margin =
declare_parameter(ns + "forward_parking_lane_departure_margin");
- p.backward_parking_lane_departure_margin =
- declare_parameter(ns + "backward_parking_lane_departure_margin");
- p.arc_path_interval = declare_parameter(ns + "arc_path_interval");
- p.pull_over_max_steer_angle =
- declare_parameter(ns + "pull_over_max_steer_angle"); // 20deg
- // freespace parking
- p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking");
- // hazard
- p.hazard_on_threshold_distance = declare_parameter(ns + "hazard_on_threshold_distance");
- p.hazard_on_threshold_velocity = declare_parameter(ns + "hazard_on_threshold_velocity");
- // safety with dynamic objects. Not used now.
- p.pull_over_duration = declare_parameter(ns + "pull_over_duration");
- p.pull_over_prepare_duration = declare_parameter(ns + "pull_over_prepare_duration");
- p.min_stop_distance = declare_parameter(ns + "min_stop_distance");
- p.stop_time = declare_parameter(ns + "stop_time");
- p.hysteresis_buffer_distance = declare_parameter(ns + "hysteresis_buffer_distance");
- p.prediction_time_resolution = declare_parameter(ns + "prediction_time_resolution");
- p.enable_collision_check_at_prepare_phase =
- declare_parameter(ns + "enable_collision_check_at_prepare_phase");
- p.use_predicted_path_outside_lanelet =
- declare_parameter(ns + "use_predicted_path_outside_lanelet");
- p.use_all_predicted_path = declare_parameter(ns + "use_all_predicted_path");
- // debug
- p.print_debug_info = declare_parameter(ns + "print_debug_info");
-
- // validation of parameters
- if (p.pull_over_sampling_num < 1) {
- RCLCPP_FATAL_STREAM(
- get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: "
- << p.pull_over_sampling_num << std::endl
- << "Terminating the program...");
- exit(EXIT_FAILURE);
- }
- if (p.maximum_deceleration < 0.0) {
- RCLCPP_FATAL_STREAM(
- get_logger(), "maximum_deceleration cannot be negative value. Given parameter: "
- << p.maximum_deceleration << std::endl
- << "Terminating the program...");
- exit(EXIT_FAILURE);
- }
+ p.parallel_parking_parameters.forward_parking_path_interval =
+ declare_parameter(ns + "forward_parking_path_interval");
+ p.parallel_parking_parameters.forward_parking_max_steer_angle =
+ declare_parameter(ns + "forward_parking_max_steer_angle"); // 20deg
+ }
- const std::string parking_policy_name = declare_parameter(ns + "parking_policy");
- if (parking_policy_name == "left_side") {
- p.parking_policy = ParkingPolicy::LEFT_SIDE;
- } else if (parking_policy_name == "right_side") {
- p.parking_policy = ParkingPolicy::RIGHT_SIDE;
- } else {
- RCLCPP_ERROR_STREAM(
- get_logger(),
- "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl);
- exit(EXIT_FAILURE);
- }
+ // forward parallel parking backward
+ {
+ std::string ns = "goal_planner.pull_over.parallel_parking.backward.";
+ p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking");
+ p.parallel_parking_parameters.after_backward_parking_straight_distance =
+ declare_parameter(ns + "after_backward_parking_straight_distance");
+ p.parallel_parking_parameters.backward_parking_velocity =
+ declare_parameter(ns + "backward_parking_velocity");
+ p.parallel_parking_parameters.backward_parking_lane_departure_margin =
+ declare_parameter(ns + "backward_parking_lane_departure_margin");
+ p.parallel_parking_parameters.backward_parking_path_interval =
+ declare_parameter(ns + "backward_parking_path_interval");
+ p.parallel_parking_parameters.backward_parking_max_steer_angle =
+ declare_parameter(ns + "backward_parking_max_steer_angle"); // 20deg
}
+ // freespace parking general params
{
- std::string ns = "goal_planner.freespace_parking.";
- // search configs
- p.algorithm = declare_parameter(ns + "planning_algorithm");
+ std::string ns = "goal_planner.pull_over.freespace_parking.";
+ p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking");
+ p.freespace_parking_algorithm =
+ declare_parameter(ns + "freespace_parking_algorithm");
p.freespace_parking_velocity = declare_parameter(ns + "velocity");
p.vehicle_shape_margin = declare_parameter(ns + "vehicle_shape_margin");
- p.common_parameters.time_limit = declare_parameter(ns + "time_limit");
- p.common_parameters.minimum_turning_radius =
+ p.freespace_parking_common_parameters.time_limit = declare_parameter(ns + "time_limit");
+ p.freespace_parking_common_parameters.minimum_turning_radius =
declare_parameter(ns + "minimum_turning_radius");
- p.common_parameters.maximum_turning_radius =
+ p.freespace_parking_common_parameters.maximum_turning_radius =
declare_parameter(ns + "maximum_turning_radius");
- p.common_parameters.turning_radius_size = declare_parameter(ns + "turning_radius_size");
- p.common_parameters.maximum_turning_radius = std::max(
- p.common_parameters.maximum_turning_radius, p.common_parameters.minimum_turning_radius);
- p.common_parameters.turning_radius_size = std::max(p.common_parameters.turning_radius_size, 1);
-
- p.common_parameters.theta_size = declare_parameter(ns + "theta_size");
- p.common_parameters.angle_goal_range = declare_parameter(ns + "angle_goal_range");
-
- p.common_parameters.curve_weight = declare_parameter(ns + "curve_weight");
- p.common_parameters.reverse_weight = declare_parameter(ns + "reverse_weight");
- p.common_parameters.lateral_goal_range = declare_parameter(ns + "lateral_goal_range");
- p.common_parameters.longitudinal_goal_range =
+ p.freespace_parking_common_parameters.turning_radius_size =
+ declare_parameter(ns + "turning_radius_size");
+ p.freespace_parking_common_parameters.maximum_turning_radius = std::max(
+ p.freespace_parking_common_parameters.maximum_turning_radius,
+ p.freespace_parking_common_parameters.minimum_turning_radius);
+ p.freespace_parking_common_parameters.turning_radius_size =
+ std::max(p.freespace_parking_common_parameters.turning_radius_size, 1);
+ }
+
+ // freespace parking search config
+ {
+ std::string ns = "goal_planner.pull_over.freespace_parking.search_configs.";
+ p.freespace_parking_common_parameters.theta_size = declare_parameter(ns + "theta_size");
+ p.freespace_parking_common_parameters.angle_goal_range =
+ declare_parameter(ns + "angle_goal_range");
+ p.freespace_parking_common_parameters.curve_weight =
+ declare_parameter(ns + "curve_weight");
+ p.freespace_parking_common_parameters.reverse_weight =
+ declare_parameter(ns + "reverse_weight");
+ p.freespace_parking_common_parameters.lateral_goal_range =
+ declare_parameter(ns + "lateral_goal_range");
+ p.freespace_parking_common_parameters.longitudinal_goal_range =
declare_parameter(ns + "longitudinal_goal_range");
+ }
- // costmap configs
- p.common_parameters.obstacle_threshold = declare_parameter(ns + "obstacle_threshold");
+ // freespace parking costmap configs
+ {
+ std::string ns = "goal_planner.pull_over.freespace_parking.costmap_configs.";
+ p.freespace_parking_common_parameters.obstacle_threshold =
+ declare_parameter(ns + "obstacle_threshold");
}
+ // freespace parking astar
{
- std::string ns = "goal_planner.freespace_parking.astar.";
+ std::string ns = "goal_planner.pull_over.freespace_parking.astar.";
p.astar_parameters.only_behind_solutions =
declare_parameter(ns + "only_behind_solutions");
p.astar_parameters.use_back = declare_parameter(ns + "use_back");
@@ -906,8 +926,9 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam()
declare_parameter(ns + "distance_heuristic_weight");
}
+ // freespace parking rrtstar
{
- std::string ns = "goal_planner.freespace_parking.rrtstar.";
+ std::string ns = "goal_planner.pull_over.freespace_parking.rrtstar.";
p.rrt_star_parameters.enable_update = declare_parameter