Merge branch 'autowarefoundation:main' into dojo-ros-config-joy_contr…

…oller

.cspell-partial.json

@@ -1,18 +1,9 @@
 {
  "ignorePaths": [
- "**/common/**",
- "**/control/**",
- "**/docs/**",
- "**/evaluator/**",
- "**/launch/**",
- "**/localization/**",
  "**/perception/**",
  "**/planning/**",
  "**/sensing/**",
- "**/simulator/**",
- "**/system/**",
- "**/tools/**",
- "**/vehicles/**"
+ "perception/bytetrack/lib/**"
  ],
  "ignoreRegExpList": [],
  "words": []

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

@@ -2,10 +2,21 @@ name: build-and-test-differential
 
 on:
  pull_request:
+ types:
+ - opened
+ - synchronize
+ - labeled
 
 jobs:
+ prevent-no-label-execution:
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+ with:
+ label: run-build-and-test-differential
+
  build-and-test-differential:
- runs-on: ubuntu-latest
+ needs: prevent-no-label-execution
+ if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+ runs-on: [self-hosted, linux, X64]
  container: ${{ matrix.container }}${{ matrix.container-suffix }}
  strategy:
  fail-fast: false
@@ -59,7 +70,7 @@ jobs:
  flags: differential
 
  clang-tidy-differential:
- runs-on: ubuntu-latest
+ runs-on: [self-hosted, linux, X64]
  container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
  needs: build-and-test-differential
  steps:

.github/workflows/openai-pr-reviewer.yaml

@@ -0,0 +1,39 @@
+name: Code Review By ChatGPT
+
+permissions:
+ contents: read
+ pull-requests: write
+
+on:
+ pull_request_target:
+ types:
+ - labeled
+ pull_request_review_comment:
+ types: [created]
+
+concurrency:
+ group: ${{ github.repository }}-${{ github.event.number || github.head_ref ||
+ github.sha }}-${{ github.workflow }}-${{ github.event_name ==
+ 'pull_request_review_comment' && 'pr_comment' || 'pr' }}
+ cancel-in-progress: ${{ github.event_name != 'pull_request_review_comment' }}
+
+jobs:
+ prevent-no-label-execution:
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+ with:
+ label: openai-pr-reviewer
+ review:
+ needs: prevent-no-label-execution
+ if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+ runs-on: ubuntu-latest
+ steps:
+ - uses: fluxninja/openai-pr-reviewer@latest
+ env:
+ GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
+ with:
+ debug: false
+ review_simple_changes: false
+ review_comment_lgtm: false
+ openai_light_model: gpt-3.5-turbo-0613
+ openai_heavy_model: gpt-3.5-turbo-0613 # The default is to use GPT4, which needs to be changed to join ChatGPT Plus.

.github/workflows/spell-check-partial.yaml

@@ -15,4 +15,4 @@ jobs:
  with:
  cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
  local-cspell-json: .cspell-partial.json
- incremental-files-only: true
+ incremental-files-only: false

common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
+
+namespace autoware_ad_api::perception
+{
+
+struct DynamicObjectArray
+{
+ using Message = autoware_adapi_v1_msgs::msg::DynamicObjectArray;
+ static constexpr char name[] = "/api/perception/objects";
+ static constexpr size_t depth = 1;
+ static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+ static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+} // namespace autoware_ad_api::perception
+
+#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_

common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp

@@ -98,7 +98,7 @@ Covariance2d covariance_2d(const IT begin, const IT end)
 /// \param[out] eig_vec1 First eigenvector
 /// \param[out] eig_vec2 Second eigenvector
 /// \tparam PointT Point type that has at least float members x and y
-/// \return A pairt of eigenvalues: The first is the larger eigenvalue
+/// \return A pair of eigenvalues: The first is the larger eigenvalue
 /// \throw std::runtime error if you would get degenerate covariance
 template <typename PointT>
 std::pair<float32_t, float32_t> eig_2d(

common/autoware_auto_geometry/test/include/test_bounding_box.hpp

@@ -336,7 +336,7 @@ TYPED_TEST(BoxTest, Line3)
  /_/ <-- first guess is suboptimal
 
 */
-TYPED_TEST(BoxTest, SuboptInit)
+TYPED_TEST(BoxTest, SuboptimalInit)
 {
  this->points.insert(
  this->points.begin(),

common/autoware_auto_geometry/test/include/test_spatial_hash.hpp

@@ -145,9 +145,9 @@ TYPED_TEST(TypedSpatialHashTest, Oob)
  // loop through all points
  float32_t r = dr + this->EPS;
  const uint32_t n_pts = PTS_PER_RING;
- const auto & nbrs = hash.near(this->ref, r);
+ const auto & neighbors = hash.near(this->ref, r);
  uint32_t points_seen = 0U;
- for (const auto itd : nbrs) {
+ for (const auto itd : neighbors) {
  const PointT & pt = itd;
  const float32_t dist = sqrtf((pt.x * pt.x) + (pt.y * pt.y));
  ASSERT_LT(dist, r);

common/autoware_auto_geometry/test/src/test_convex_hull.cpp

@@ -139,7 +139,7 @@ TYPED_TEST(TypedConvexHullTest, Quadrilateral)
 }
 
 // test that things get reordered to ccw
-TYPED_TEST(TypedConvexHullTest, Quadhull)
+TYPED_TEST(TypedConvexHullTest, QuadHull)
 {
  std::vector<TypeParam> data(
  {this->make(1, 1, 1), this->make(5, 1, 2), this->make(2, 6, 3), this->make(3, 3, 4),

common/autoware_auto_geometry/test/src/test_hull_pockets.cpp

@@ -110,7 +110,7 @@ TYPED_TEST(TypedHullPocketsTest, Box)
 // | |
 // +------------------------------+
 // This should come up with a single box on the top left.
-TYPED_TEST(TypedHullPocketsTest, Ushape)
+TYPED_TEST(TypedHullPocketsTest, UShape)
 {
  const auto polygon = std::vector<decltype(this->make(0, 0, 0))>{
  this->make(0, 0, 0), this->make(5, 0, 0), this->make(5, 4.5, 0), this->make(4, 5, 0),

common/component_interface_specs/include/component_interface_specs/perception.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+
+namespace perception_interface
+{
+
+struct ObjectRecognition
+{
+ using Message = autoware_auto_perception_msgs::msg::PredictedObjects;
+ static constexpr char name[] = "/perception/object_recognition/objects";
+ static constexpr size_t depth = 1;
+ static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+ static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+} // namespace perception_interface
+
+#endif // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/perception_utils/include/perception_utils/prime_synchronizer.hpp

@@ -76,7 +76,7 @@ class PrimeSynchronizer
  const typename PrimeMsgT::ConstSharedPtr, const typename SecondaryMsgT::ConstSharedPtr...)>
  callback,
  StampT max_delay_t = 0.2, StampT max_wait_t = 0.1)
- : node_ptr_(node_ptr), callback_(callback), max_delay_t_(max_delay_t), max_wait_t_(max_wait_t)
+ : node_ptr_(node_ptr), callback_(callback), max_wait_t_(max_wait_t), max_delay_t_(max_delay_t)
  {
  assert((topics.size() == sizeof...(SecondaryMsgT) + 1) && "Incorrect topic number");
  assert(topics.size() == qos.size() && "topic size not equal to qos size!");
@@ -158,7 +158,7 @@ class PrimeSynchronizer
  * @tparam Idx
  * @param argv
  * @return true All messages are not nullptr
- * @return false At least one message in the tuplc is nullptr
+ * @return false At least one message in the topic is nullptr
  */
  template <std::size_t Idx = 0>
  bool isArgvValid(

common/tensorrt_common/src/tensorrt_common.cpp

@@ -273,20 +273,20 @@ void TrtCommon::printNetworkInfo(const std::string & onnx_file_path)
  int total_params = 0;
  for (int i = 0; i < num; i++) {
  nvinfer1::ILayer * layer = network->getLayer(i);
- auto ltype = layer->getType();
+ auto layer_type = layer->getType();
  std::string name = layer->getName();
  if (build_config_->profile_per_layer) {
  model_profiler_.setProfDict(layer);
  }
- if (ltype == nvinfer1::LayerType::kCONSTANT) {
+ if (layer_type == nvinfer1::LayerType::kCONSTANT) {
  continue;
  }
  nvinfer1::ITensor * in = layer->getInput(0);
  nvinfer1::Dims dim_in = in->getDimensions();
  nvinfer1::ITensor * out = layer->getOutput(0);
  nvinfer1::Dims dim_out = out->getDimensions();
 
- if (ltype == nvinfer1::LayerType::kCONVOLUTION) {
+ if (layer_type == nvinfer1::LayerType::kCONVOLUTION) {
  nvinfer1::IConvolutionLayer * conv = (nvinfer1::IConvolutionLayer *)layer;
  nvinfer1::Dims k_dims = conv->getKernelSizeNd();
  nvinfer1::Dims s_dims = conv->getStrideNd();
@@ -305,7 +305,7 @@ void TrtCommon::printNetworkInfo(const std::string & onnx_file_path)
  std::cout << " weights:" << num_weights;
  std::cout << " GFLOPs:" << gflops;
  std::cout << std::endl;
- } else if (ltype == nvinfer1::LayerType::kPOOLING) {
+ } else if (layer_type == nvinfer1::LayerType::kPOOLING) {
  nvinfer1::IPoolingLayer * pool = (nvinfer1::IPoolingLayer *)layer;
  auto p_type = pool->getPoolingType();
  nvinfer1::Dims dim_stride = pool->getStrideNd();
@@ -325,7 +325,7 @@ void TrtCommon::printNetworkInfo(const std::string & onnx_file_path)
  std::cout << "pool " << dim_window.d[0] << "x" << dim_window.d[1] << "]";
  std::cout << " GFLOPs:" << gflops;
  std::cout << std::endl;
- } else if (ltype == nvinfer1::LayerType::kRESIZE) {
+ } else if (layer_type == nvinfer1::LayerType::kRESIZE) {
  std::cout << "L" << i << " [resize]" << std::endl;
  }
  }
@@ -364,7 +364,7 @@ bool TrtCommon::buildEngineFromOnnx(
  if (num_available_dla > 0) {
  std::cout << "###" << num_available_dla << " DLAs are supported! ###" << std::endl;
  } else {
- std::cout << "###Warninig : "
+ std::cout << "###Warning : "
  << "No DLA is supported! ###" << std::endl;
  }
  config->setDefaultDeviceType(nvinfer1::DeviceType::kDLA);
@@ -400,7 +400,7 @@ bool TrtCommon::buildEngineFromOnnx(
  network->getInput(0)->setDynamicRange(0, 255.0);
  for (int i = 0; i < num; i++) {
  nvinfer1::ILayer * layer = network->getLayer(i);
- auto ltype = layer->getType();
+ auto layer_type = layer->getType();
  std::string name = layer->getName();
  nvinfer1::ITensor * out = layer->getOutput(0);
  if (build_config_->clip_value > 0.0) {
@@ -409,13 +409,14 @@ bool TrtCommon::buildEngineFromOnnx(
  out->setDynamicRange(0.0, build_config_->clip_value);
  }
 
- if (ltype == nvinfer1::LayerType::kCONVOLUTION) {
+ if (layer_type == nvinfer1::LayerType::kCONVOLUTION) {
  if (first) {
  layer->setPrecision(nvinfer1::DataType::kHALF);
  std::cout << "Set kHALF in " << name << std::endl;
  first = false;
  }
  if (last) {
+ // cspell: ignore preds
  if (
  contain(name, "reg_preds") || contain(name, "cls_preds") ||
  contain(name, "obj_preds")) {
@@ -424,14 +425,14 @@ bool TrtCommon::buildEngineFromOnnx(
  }
  for (int i = num - 1; i >= 0; i--) {
  nvinfer1::ILayer * layer = network->getLayer(i);
- auto ltype = layer->getType();
+ auto layer_type = layer->getType();
  std::string name = layer->getName();
- if (ltype == nvinfer1::LayerType::kCONVOLUTION) {
+ if (layer_type == nvinfer1::LayerType::kCONVOLUTION) {
  layer->setPrecision(nvinfer1::DataType::kHALF);
  std::cout << "Set kHALF in " << name << std::endl;
  break;
  }
- if (ltype == nvinfer1::LayerType::kMATRIX_MULTIPLY) {
+ if (layer_type == nvinfer1::LayerType::kMATRIX_MULTIPLY) {
  layer->setPrecision(nvinfer1::DataType::kHALF);
  std::cout << "Set kHALF in " << name << std::endl;
  break;

common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp

@@ -75,7 +75,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize()
  &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1));
 
  client_ = raw_node->create_client<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>(
- "/accel_brake_map_calibrator/update_map_dir");
+ "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir");
 }
 
 void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest(
@@ -118,25 +118,28 @@ void AccelBrakeMapCalibratorButtonPanel::pushCalibrationButton()
  status_label_->setText("executing calibration...");
 
  std::thread thread([this] {
- auto req = std::make_shared<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap::Request>();
- req->path = "";
-
- client_->async_send_request(
- req,
- [this](
- [[maybe_unused]] rclcpp::Client<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>::SharedFuture
- result) {
- status_label_->setStyleSheet("QLabel { background-color : lightgreen;}");
- status_label_->setText("OK!!!");
-
- // wait 3 second
- after_calib_ = true;
- rclcpp::Rate(3.0).sleep();
- after_calib_ = false;
-
- // unlock button
- calibration_button_->setEnabled(true);
- });
+ if (!client_->wait_for_service(std::chrono::seconds(1))) {
+ status_label_->setStyleSheet("QLabel { background-color : red;}");
+ status_label_->setText("service server not found");
+
+ } else {
+ auto req = std::make_shared<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap::Request>();
+ req->path = "";
+ client_->async_send_request(
+ req, [this]([[maybe_unused]] rclcpp::Client<
+ tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>::SharedFuture result) {});
+
+ status_label_->setStyleSheet("QLabel { background-color : lightgreen;}");
+ status_label_->setText("OK!!!");
+ }
+
+ // wait 3 second
+ after_calib_ = true;
+ rclcpp::Rate(1.0 / 3.0).sleep();
+ after_calib_ = false;
+
+ // unlock button
+ calibration_button_->setEnabled(true);
  });
 
  thread.detach();