Merge remote-tracking branch 'origin/master' into RJD-736/autoware_ms…

…gs_support # Conflicts: # external/concealer/include/concealer/autoware.hpp # external/concealer/include/concealer/autoware_universe.hpp # external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp # external/concealer/src/autoware_universe.cpp # external/concealer/src/field_operator_application_for_autoware_universe.cpp
tier4 · Nov 18, 2024 · d52e865 · d52e865
2 parents 2065b77 + a7047f2
commit d52e865
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Showing 74 changed files with 936 additions and 113 deletions.
diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -68,7 +68,7 @@ jobs:
       - name: Resolve rosdep and install colcon mixin
         run: |
           apt-get update
-          apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip
+          apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip gcovr
           rosdep update --include-eol-distros
           rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
           colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
@@ -84,7 +84,14 @@ jobs:
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           build-wrapper-linux-x86-64 --out-dir src/scenario_simulator_v2/bw-output \
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }}
+          colcon build --symlink-install \
+          --cmake-args \
+            -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \
+            -DBUILD_CPP_MOCK_SCENARIOS=ON \
+            -DBUILD_TESTING=true \
+            -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' \
+            -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' \
+            --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test
@@ -95,14 +102,8 @@ jobs:
           colcon lcov-result --packages-select ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
-      - name: Collect and run gcov on coverage data
-        run: |
-          mkdir -p ./gcov && \
-          find ./build -name "*.gcda" -o -name "*.gcno" | \
-          while read -r line; do \
-            gcov -o $(dirname "$line") $(echo "$line" | sed 's/\.gcda$/.cpp/;s/\.gcno$/.cpp/;s/\.gcda$/.hpp/;s/\.gcno$/.hpp/'); \
-          done && mv *.gcov ./gcov/
-    
+      - name: generate gcov report for sonarcloud
+        run: gcovr -r src/scenario_simulator_v2 build --sonarqube coverage.xml
 
       - name: Show test result
         if: always()
@@ -126,6 +127,13 @@ jobs:
           path: lcov
           retention-days: 1
 
+      - name: Upload Gcov result
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage${{ matrix.cmake_build_type }}.xml
+          path: coverage.xml
+          retention-days: 1
+
       - name: Run SonarCloud scan
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json
@@ -18,6 +18,7 @@
     "euclidian",
     "gcda",
     "gcno",
+    "gcovr",
     "libunwind",
     "linelint",
     "Mersenne",
@@ -37,6 +38,8 @@
     "pyproject",
     "randomizer",
     "randomizers",
+    "sonarcloud",
+    "sonarqube",
     "subspline",
     "TESTRANDOMIZER",
     "travelling",

diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+5.3.0 (2024-11-18)
+------------------
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/feature/manual_on_follow_trajectory' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+5.2.3 (2024-11-18)
+------------------
+
 5.2.2 (2024-11-15)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-6

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>5.2.2</version>
+  <version>5.3.0</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+5.3.0 (2024-11-18)
+------------------
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/feature/manual_on_follow_trajectory' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+5.2.3 (2024-11-18)
+------------------
+
 5.2.2 (2024-11-15)
 ------------------
 * Merge pull request `#1445 <https://github.com/tier4/scenario_simulator_v2/issues/1445>`_ from tier4/fix/sonor-cloud-issue-6

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>5.2.2</version>
+  <version>5.3.0</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+5.3.0 (2024-11-18)
+------------------
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/feature/manual_on_follow_trajectory' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+5.2.3 (2024-11-18)
+------------------
+
 5.2.2 (2024-11-15)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-6

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>5.2.2</version>
+  <version>5.3.0</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+5.3.0 (2024-11-18)
+------------------
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/feature/manual_on_follow_trajectory' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+5.2.3 (2024-11-18)
+------------------
+
 5.2.2 (2024-11-15)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-6

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>5.2.2</version>
+  <version>5.3.0</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+5.3.0 (2024-11-18)
+------------------
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory_with_new_state
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/feature/manual_on_follow_trajectory' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge branch 'master' into feature/manual_on_follow_trajectory
+* Merge remote-tracking branch 'origin/master' into feature/manual_on_follow_trajectory
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+5.2.3 (2024-11-18)
+------------------
+
 5.2.2 (2024-11-15)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-6

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>5.2.2</version>
+  <version>5.3.0</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/docs/developer_guide/.pages b/docs/developer_guide/.pages
@@ -18,3 +18,4 @@ nav:
     - CONTRIBUTING.md
     - Communication.md
     - ConfiguringPerceptionTopics.md
+    - ManualOverrideWithFollowTrajectoryAction.md
diff --git a/docs/developer_guide/Communication.md b/docs/developer_guide/Communication.md
@@ -50,14 +50,19 @@
 
 ### Service Clients
 
-| service name                       | type                                                                                                                                                                | note |
-|------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|------|
-| `/api/autoware/set/velocity_limit` | [`tier4_external_api_msgs/srv/SetVelocityLimit`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/SetVelocityLimit.srv) |      |
-| `/api/external/set/engage`         | [`tier4_external_api_msgs/srv/Engage`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/Engage.srv)                     |      |
-| `/api/external/set/rtc_commands`   | [`tier4_rtc_msgs/srv/CooperateCommands`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/CooperateCommands.srv)                 |      |
-| `/api/external/set/rtc_auto_mode`  | [`tier4_rtc_msgs/srv/AutoModeWithModule`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/AutoModeWithModule.srv)               |      |
-
-
+| service name                                  | type                                                                                                                                                                                      | note |
+|-----------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------|
+| `/api/autoware/set/velocity_limit`            | [`tier4_external_api_msgs/srv/SetVelocityLimit`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/SetVelocityLimit.srv)                       |      |
+| `/api/external/set/engage`                    | [`tier4_external_api_msgs/srv/Engage`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/Engage.srv)                                           |      |
+| `/api/external/set/rtc_commands`              | [`tier4_rtc_msgs/srv/CooperateCommands`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/CooperateCommands.srv)                                       |      |
+| `/api/external/set/rtc_auto_mode`             | [`tier4_rtc_msgs/srv/AutoModeWithModule`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/AutoModeWithModule.srv)                                     |      |
+| `/api/operation_mode/enable_autoware_control` | [`autoware_adapi_v1_msgs/srv/ChangeOperationMode`](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/operation_mode/srv/ChangeOperationMode.srv) |      |
+
+### Service Servers
+
+| service name                    | type                                                                                                                                                                     | note                                                         |
+|---------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------|
+| `/control/control_mode_request` | [`autoware_auto_vehicle_msgs/srv/ControlModeCommand`](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/srv/ControlModeCommand.srv) | Simulated by `simple_sensor_simulator` for a manual override |
 
 [//]: # (/simulation/openscenario_visualizer)