sync upstream (#206)

* update parameter (#169)

* Port pure pursuit (#166)

* Fix control.launch.py

* Apply pre-commit

* Fix control.launch.py

* Change debug topic name in rviz setting

* fix typo in localization util.launch.py (#168)

* Feature/add covarinace param (#170)

* add covariance param

* add description

* remove unused param (#172)

* Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#174)

* Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0

Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0.
- [Release notes](https://github.com/streetsidesoftware/cspell-action/releases)
- [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md)
- [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0)

---
updated-dependencies:
- dependency-name: streetsidesoftware/cspell-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>

* Update spell_check_pr.yml

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix: fix hdd_monitor param (#173)

* add rosbridge launch (#175)

* add rosbridge launch

* fix TODO document

add link to pull request

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix double-byte character

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* chore: sync files (#177)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* ci: update CI settings (#176)

* ci(pre-commit): update .pre-commit-config.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ci: add sync-files.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* chore: remove old workflows

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ci(sync-upstream): update sync-upstream.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ci(pre-commit): autofix

* style: fix for yamllint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: minor update CI settings (#179)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [pre-commit.ci] pre-commit autoupdate (#178)

updates:
- [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0)
- [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0)
- [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1)
- [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1)
- [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* chore: fix CI settings (#182)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* chore: sync files (#180)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#184)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat: add paricle param (#181)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#185)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* chore: sync files (#186)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync system config (#187)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* chore: sync files (#189)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: wep21 <wep21@users.noreply.github.com>

* chore: replace system config in system launch (#188)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* feat: adds additional configuration flags for behavior_path_planner (#171)

* feat: adds additional configuration flags for behavior_path_planner

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Change lateral_collision_margion to 1.0 to reflect changes.

The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix: slightly increase the safety buffer.

This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(behavior_velocity): add path marker visualization (#190)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* chore: sync files (#193)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#194)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* chore: update workflow files name

Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>
Co-authored-by: h-ohta <hiroki.ota@tier4.jp>

* chore: sync files (#195)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>

* feat: lateral controller param (#191)

* feat: define lat_controller_param_path

* feat: change for trajectory_follower params

* add args for lat_controller_param_path

* chore: fix wrong essential param to optional (#197)

* fix wrong param line

* move pointcloud_container_name param to optional

* fix: typo extra `>` (#199)

* Chore arrange perception rviz topics (#196)

* feat(autoware_launch): add occupancy grid vizualization

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* feat(autoware_launch): add object recognition namespace to rviz

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* fix: delete unused in control_launch (#200)

* fix: delete unused in control.launch.py

* fix: delete velocity_controller.param.yaml

* feat: add system_monitor parameters in sync-files (#201)

* chore: sync files (#202)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>

* chore: sync files (#203)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: update settings of sync-files (#204)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* feat(control_launch): remove unnecessary params (#206)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* chore: sync files (#208)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat(atutoware.rviz): disable selectable for pointcloud visualization (#207)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#212)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* delete vehicle parameters in longitudinal_controller.param.yaml

* apply pre-commit

* remove unused file

* update sync-param-files.yaml

* disable local_external_control in system_error_montitor_psim

Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: YamatoAndo <yamato.ando@gmail.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: yabuta <makoto.yabuta@tier4.jp>
Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: wep21 <wep21@users.noreply.github.com>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>
Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

.clang-format

@@ -0,0 +1,43 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true

.github/dependabot.yaml

@@ -0,0 +1,7 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: daily
+    open-pull-requests-limit: 1

.github/sync-files.yaml

@@ -0,0 +1,21 @@
+- repository: autowarefoundation/autoware
+  files:
+    - source: .github/dependabot.yaml
+    - source: .github/workflows/pre-commit.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

.github/sync-param-files.yaml

@@ -0,0 +1,30 @@
+- repository: tier4/autoware.universe
+  files:
+    # system
+    ## ad_service_state_monitor
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.param.yaml
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+
+    ## system_error_monitor
+    - source: system/system_error_monitor/config/system_error_monitor.param.yaml
+      dest: system_launch/config/system_error_monitor.param.yaml
+    - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml
+
+    ## system_monitor
+    - source: system/system_monitor/config/cpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/cpu_monitor.param.yaml
+    - source: system/system_monitor/config/gpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/gpu_monitor.param.yaml
+    - source: system/system_monitor/config/hdd_monitor.param.yaml
+      dest: system_launch/config/system_monitor/hdd_monitor.param.yaml
+    - source: system/system_monitor/config/mem_monitor.param.yaml
+      dest: system_launch/config/system_monitor/mem_monitor.param.yaml
+    - source: system/system_monitor/config/net_monitor.param.yaml
+      dest: system_launch/config/system_monitor/net_monitor.param.yaml
+    - source: system/system_monitor/config/ntp_monitor.param.yaml
+      dest: system_launch/config/system_monitor/ntp_monitor.param.yaml
+    - source: system/system_monitor/config/process_monitor.param.yaml
+      dest: system_launch/config/system_monitor/process_monitor.param.yaml

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

@@ -0,0 +1,75 @@
+name: build-and-test-differential
+
+on:
+  pull_request:
+
+jobs:
+  build-and-test-differential:
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+
+  clang-tidy-differential:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    needs: build-and-test-differential
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          clang-tidy-config-url: https://github.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+          build-depends-repos: build_depends.repos

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

@@ -0,0 +1,48 @@
+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: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true