chore: sync upstream

.github/sync-files.yaml

@@ -0,0 +1,33 @@
+- repository: autowarefoundation/autoware
+  files:
+    - source: CODE_OF_CONDUCT.md
+    - source: CONTRIBUTING.md
+    - source: DISCLAIMER.md
+    - source: LICENSE
+    - source: .github/dependabot.yaml
+    - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/semantic-pull-request.yaml
+    - source: .github/workflows/spell-check-differential.yaml
+    - source: .clang-format
+    - source: .markdown-link-check.json
+    - source: .markdownlint.yaml
+    - source: .pre-commit-config-optional.yaml
+    - source: .prettierignore
+    - source: .prettierrc.yaml
+    - source: .yamllint.yaml
+    - source: CPPLINT.cfg
+    - source: setup.cfg
+
+- repository: autowarefoundation/autoware_common
+  files:
+    - source: .github/workflows/build-and-test.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/build-and-test-differential-self-hosted.yaml
+    - source: .github/workflows/build-and-test-self-hosted.yaml
+    - source: .github/workflows/check-build-depends.yaml
+    - source: .github/workflows/pre-commit.yaml
+
+- repository: autowarefoundation/autoware-documentation
+  files:
+    - source: .github/workflows/deploy-docs.yaml
+    - source: .github/workflows/delete-closed-pr-docs.yaml

.github/workflows/build-and-test-arm-pr.yaml → .github/workflows/build-and-test-differential-self-hosted.yaml

@@ -1,4 +1,4 @@
-name: build-and-test-arm-pr
+name: build-and-test-differential-self-hosted
 
 on:
   pull_request:
@@ -14,13 +14,13 @@ jobs:
     with:
       label: ARM64
 
-  build-and-test-arm:
+  build-and-test-differential-self-hosted:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
         with:
           fetch-depth: 0

.github/workflows/build-and-test-pr.yaml → .github/workflows/build-and-test-differential.yaml

@@ -1,17 +1,17 @@
-name: build-and-test-pr
+name: build-and-test-differential
 
 on:
   pull_request:
 
 jobs:
-  build-and-test:
+  build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
 
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
         with:
           fetch-depth: 0
@@ -36,12 +36,29 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: build_depends.repos
 
-  clang-tidy:
+      - name: Check the existence of coverage files
+        id: check-file-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+        with:
+          files: |
+            lcov/total_coverage.info
+            coveragepy/.coverage
+          condition: or
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: lcov/total_coverage.info,coveragepy/.coverage
+          fail_ci_if_error: false
+          verbose: true
+
+  clang-tidy-differential:
     runs-on: ubuntu-latest
     container: ros:galactic
-    needs: build-and-test
+    needs: build-and-test-differential
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
         with:
           fetch-depth: 0

.github/workflows/build-and-test-scheduled.yaml → .github/workflows/build-and-test-self-hosted.yaml

@@ -1,20 +1,16 @@
-name: build-and-test-scheduled
+name: build-and-test-self-hosted
 
 on:
   schedule:
     - cron: 0 19 * * * # run at 4 AM JST
   workflow_dispatch:
 
 jobs:
-  build-and-test-scheduled:
-    runs-on: ${{ matrix.os }}
-    container: ros:galactic
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, ARM64]
+  build-and-test-self-hosted:
+    runs-on: [self-hosted, linux, ARM64]
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
 
       - name: Remove exec_depend

.github/workflows/build-and-test.yaml

@@ -0,0 +1,52 @@
+name: build-and-test
+
+on:
+  push:
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+
+      - name: Build and test
+        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Check the existence of coverage files
+        id: check-file-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+        with:
+          files: |
+            lcov/total_coverage.info
+            coveragepy/.coverage
+          condition: or
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: lcov/total_coverage.info,coveragepy/.coverage
+          fail_ci_if_error: false
+          verbose: true

.github/workflows/check-build-depends.yaml

@@ -8,12 +8,12 @@ on:
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
 
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
 
       - name: Remove exec_depend

.github/workflows/delete-closed-pr-docs.yaml

@@ -9,7 +9,7 @@ jobs:
   delete-closed-pr-docs:
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
         with:
           fetch-depth: 0

.github/workflows/deploy-docs.yaml

@@ -29,7 +29,7 @@ jobs:
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
         with:
           fetch-depth: 0

.github/workflows/pre-commit-optional.yaml

@@ -0,0 +1,16 @@
+name: pre-commit-optional
+
+on:
+  pull_request:
+
+jobs:
+  pre-commit-optional:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        with:
+          pre-commit-config: .pre-commit-config-optional.yaml

.github/workflows/pre-commit.yaml

@@ -0,0 +1,16 @@
+name: pre-commit
+
+on:
+  pull_request:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        with:
+          pre-commit-config: .pre-commit-config.yaml

.github/workflows/spell-check.yaml → .github/workflows/spell-check-differential.yaml

@@ -1,13 +1,13 @@
-name: spell-check
+name: spell-check-differential
 
 on:
   pull_request:
 
 jobs:
-  spell-check:
+  spell-check-differential:
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
 
       - name: Run spell-check

.github/workflows/sync-files.yaml

@@ -0,0 +1,22 @@
+name: sync-files
+
+on:
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  sync-files:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-files
+        uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal
+        with:
+          token: ${{ steps.generate-token.outputs.token }}

.markdown-link-check.json

@@ -1,6 +1,10 @@
 {
   "aliveStatusCodes": [200, 206, 403],
-  "ignorePatterns": [],
+  "ignorePatterns": [
+    {
+      "pattern": "^http://localhost"
+    }
+  ],
   "retryOn429": true,
   "retryCount": 10
 }

.pre-commit-config-optional.yaml

@@ -0,0 +1,6 @@
+repos:
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.9.3
+    hooks:
+      - id: markdown-link-check
+        args: [--config=.markdown-link-check.json]

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.1.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -24,7 +24,7 @@ repos:
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.0
+    rev: v2.5.1
     hooks:
       - id: prettier
 
@@ -40,12 +40,12 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.1
+    rev: v0.8.0.3
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.1-1
+    rev: v3.4.2-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -56,7 +56,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 21.11b1
+    rev: 22.1.0
     hooks:
       - id: black
         args: [--line-length=100]
@@ -78,7 +78,7 @@ repos:
           ]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v12.0.1
+    rev: v13.0.0
     hooks:
       - id: clang-format
 

.prettierignore

@@ -1 +1,2 @@
 *.param.yaml
+*.rviz

.yamllint.yaml

@@ -5,6 +5,9 @@ ignore: |
   *.param.yaml
 
 rules:
+  braces:
+    level: error
+    max-spaces-inside: 1 # To format with Prettier
   comments:
     level: error
     min-spaces-from-content: 1 # To be compatible with C++ and Python

common/goal_distance_calculator/src/goal_distance_calculator_node.cpp

@@ -56,14 +56,9 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
   self_pose_listener_.waitForFirstPose();
 
   // Timer
-  double delta_time = 1.0 / static_cast<double>(node_param_.update_rate);
-  auto timer_callback_ = std::bind(&GoalDistanceCalculatorNode::onTimer, this);
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(delta_time));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback_)>>(
-    this->get_clock(), period_ns, std::move(timer_callback_),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&GoalDistanceCalculatorNode::onTimer, this));
   goal_distance_calculator_ = std::make_unique<GoalDistanceCalculator>();
 }