tier4 · tier4-autoware-public-bot · Apr 8, 2022 · Apr 5, 2022 · Apr 5, 2022 · Apr 5, 2022
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -47,6 +47,7 @@ jobs:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: differential
 
   clang-tidy-differential:
     runs-on: ubuntu-latest

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -46,3 +46,4 @@ jobs:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: total
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -19,13 +19,13 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.30.0
+    rev: v0.31.1
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.1
+    rev: v2.6.2
     hooks:
       - id: prettier
 
@@ -35,19 +35,21 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.5.1
+    rev: v0.6.0
     hooks:
+      - id: prettier-xacro
+      - id: prettier-launch-xml
       - id: prettier-package-xml
       - id: sort-package-xml
       - id: ros-include-guard
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.3
+    rev: v0.8.0.4
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.2-1
+    rev: v3.4.3-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -86,7 +88,7 @@ repos:
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.5.5
+    rev: 1.6.0
     hooks:
       - id: cpplint
         args: [--quiet]

diff --git a/codecov.yaml b/codecov.yaml
@@ -0,0 +1,22 @@
+coverage:
+  status:
+    project:
+      default:
+        target: auto
+    patch:
+      default:
+        target: auto
+
+comment:
+  show_carryforward_flags: true
+
+flag_management:
+  default_rules:
+    carryforward: true
+    statuses:
+      - name_prefix: project-
+        type: project
+        target: auto
+      - name_prefix: patch-
+        type: patch
+        target: auto
@@ -1,6 +1,6 @@
 <launch>
-  <arg name="oneshot" default="false" />
-  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml" />
+  <arg name="oneshot" default="false"/>
+  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml"/>
   <node pkg="goal_distance_calculator" exec="goal_distance_calculator_node" name="goal_distance_calculator" output="screen">
     <param from="$(var config_file)"/>
     <param name="oneshot" value="$(var oneshot)"/>

diff --git a/common/path_distance_calculator/launch/path_distance_calculator.launch.xml b/common/path_distance_calculator/launch/path_distance_calculator.launch.xml
@@ -1,8 +1,8 @@
 <launch>
-  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
-  <arg name="distance" default="~/distance" />
+  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
+  <arg name="distance" default="~/distance"/>
   <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
-    <remap from="~/input/path" to="$(var path)" />
-    <remap from="~/output/distance" to="$(var distance)" />
+    <remap from="~/input/path" to="$(var path)"/>
+    <remap from="~/output/distance" to="$(var distance)"/>
   </node>
 </launch>
diff --git a/common/tier4_debug_tools/launch/lateral_error_publisher.launch.xml b/common/tier4_debug_tools/launch/lateral_error_publisher.launch.xml
@@ -1,6 +1,5 @@
 <launch>
-
-   <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
+  <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
 
   <!-- mpc for trajectory following -->
   <node pkg="tier4_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
@@ -9,5 +8,4 @@
     <remap from="~/input/vehicle_pose_with_covariance" to="/localization/pose_with_covariance"/>
     <remap from="~/input/ground_truth_pose_with_covariance" to="/localization/pose_with_covariance"/>
   </node>
-
 </launch>
@@ -110,10 +110,10 @@ void AutowareStatePanel::onInitialize()
     "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));
 
   sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
-    "/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
+    "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
 
   client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
-    "/api/external/set/engage", rmw_qos_profile_services_default);
+    "/api/autoware/set/engage", rmw_qos_profile_services_default);
 }
 
 void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.5)
+project(tier4_traffic_light_rviz_plugin)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/traffic_light_publish_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
+)
@@ -0,0 +1,31 @@
+# tier4_traffic_light_rviz_plugin
+
+## Purpose
+
+This plugin panel publishes dummy traffic light signals.
+
+## Inputs / Outputs
+
+### Output
+
+| Name                                                    | Type                                                     | Description                   |
+| ------------------------------------------------------- | -------------------------------------------------------- | ----------------------------- |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | Publish traffic light signals |
+
+## HowToUse
+
+<div align="center">
+  <img src="images/select_panels.png" width=50%>
+</div>
+<div align="center">
+  <img src="images/select_traffic_light_publish_panel.png" width=50%>
+</div>
+
+1. Start rviz and select panels/Add new panel.
+2. Select TrafficLightPublishPanel and press OK.
+3. Set `Traffic Light ID` & `Traffic Light Status` and press `SET` button.
+4. Traffic light signals are published, while `PUBLISH` button is pushed.
+
+<div align="center">
+  <img src="images/traffic_light_publish_panel.gif">
+</div>
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>tier4_traffic_light_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The autoware state rviz plugin package</description>
+  <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>
@@ -0,0 +1,9 @@
+<library path="tier4_traffic_light_rviz_plugin">
+
+  <class
+    type="rviz_plugins::TrafficLightPublishPanel"
+    base_class_type="rviz_common::Panel">
+    <description>TrafficLightPublishPanel</description>
+  </class>
+
+</library>