Merge pull request autowarefoundation#29 from tier4/sync-upstream

chore: sync upstream

Author: tier4-autoware-public-bot[bot]

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,6 +1,8 @@
-**Note**: Confirm our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request.
+**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request.
 
 Click the `Preview` tab and select a PR template:
 
 - [Standard change](?expand=1&template=standard-change.md)
 - [Small change](?expand=1&template=small-change.md)
+
+**Do NOT send a PR with this description.**

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -4,24 +4,24 @@
 
 ## Pre-review checklist for the PR author
 
-PR author **must** check the checkboxes below when creating the PR.
+The PR author **must** check the checkboxes below when creating the PR.
 
 - [ ] I've confirmed the [contribution guidelines].
 - [ ] The PR follows the [pull request guidelines].
 
 ## In-review checklist for the PR reviewers
 
-Reviewers **must** check the checkboxes below before approval.
+The PR reviewers **must** check the checkboxes below before approval.
 
 - [ ] The PR follows the [pull request guidelines].
 
 ## Post-review checklist for the PR author
 
-PR author **must** check the checkboxes below before merging.
+The PR author **must** check the checkboxes below before merging.
 
 - [ ] There are no open discussions or they are tracked via tickets.
 
-After all checkboxes are checked, anyone who has the write access can merge the PR.
+After all checkboxes are checked, anyone who has write access can merge the PR.
 
 [contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
 [pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -16,27 +16,27 @@
 
 ## Pre-review checklist for the PR author
 
-PR author **must** check the checkboxes below when creating the PR.
+The PR author **must** check the checkboxes below when creating the PR.
 
 - [ ] I've confirmed the [contribution guidelines].
 - [ ] The PR follows the [pull request guidelines].
 
 ## In-review checklist for the PR reviewers
 
-Reviewers **must** check the checkboxes below before approval.
+The PR reviewers **must** check the checkboxes below before approval.
 
 - [ ] The PR follows the [pull request guidelines].
 - [ ] The PR has been properly tested.
 - [ ] The PR has been reviewed by the code owners.
 
 ## Post-review checklist for the PR author
 
-PR author **must** check the checkboxes below before merging.
+The PR author **must** check the checkboxes below before merging.
 
 - [ ] There are no open discussions or they are tracked via tickets.
 - [ ] The PR is ready for merge.
 
-After all checkboxes are checked, anyone who has the write access can merge the PR.
+After all checkboxes are checked, anyone who has write access can merge the PR.
 
 [contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
 [pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/

.github/stale.yml

@@ -0,0 +1,12 @@
+# Modified from https://github.com/probot/stale#usage
+
+# Number of days of inactivity before an Issue or Pull Request with the stale label is closed
+daysUntilClose: false
+
+# Label to use when marking as stale
+staleLabel: stale
+
+# Comment to post when marking as stale
+markComment: >
+  This pull request has been automatically marked as stale because it has not had
+  recent activity.

.github/sync-files.yaml

@@ -11,10 +11,12 @@
     - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
     - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
+    - source: .github/stale.yml
     - 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: .github/workflows/sync-files.yaml
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
@@ -33,7 +35,6 @@
     - source: .github/workflows/build-and-test-self-hosted.yaml
     - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/clang-tidy-pr-comments.yaml
-    - source: .github/workflows/sync-files.yaml
 
 - repository: autowarefoundation/autoware-documentation
   files:

.pre-commit-config-optional.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.9.3
+    rev: v3.10.0
     hooks:
       - id: markdown-link-check
         args: [--config=.markdown-link-check.json]

.pre-commit-config.yaml

@@ -58,7 +58,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.1.0
+    rev: 22.3.0
     hooks:
       - id: black
         args: [--line-length=100]
@@ -80,9 +80,10 @@ repos:
           ]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v13.0.0
+    rev: v13.0.1
     hooks:
       - id: clang-format
+        types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
     rev: 1.5.5

common/autoware_point_types/CMakeLists.txt

@@ -14,6 +14,12 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
+include_directories(
+  include
+  SYSTEM
+  ${PCL_INCLUDE_DIRS}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

common/autoware_point_types/include/autoware_point_types/types.hpp

@@ -17,6 +17,8 @@
 
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <pcl/point_types.h>
+
 #include <cmath>
 #include <tuple>
 
@@ -41,6 +43,17 @@ struct PointXYZI
   }
 };
 
+enum ReturnType : uint8_t {
+  INVALID = 0,
+  SINGLE_STRONGEST,
+  SINGLE_LAST,
+  DUAL_STRONGEST_FIRST,
+  DUAL_STRONGEST_LAST,
+  DUAL_WEAK_FIRST,
+  DUAL_WEAK_LAST,
+  DUAL_ONLY,
+};
+
 struct PointXYZIRADRT
 {
   float x{0.0F};
@@ -77,4 +90,10 @@ using PointXYZIRADRTGenerator = std::tuple<
 
 }  // namespace autoware_point_types
 
+POINT_CLOUD_REGISTER_POINT_STRUCT(
+  autoware_point_types::PointXYZIRADRT,
+  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)(
+    float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)(
+    double, time_stamp, time_stamp))
+
 #endif  // AUTOWARE_POINT_TYPES__TYPES_HPP_

common/autoware_point_types/package.xml

@@ -18,6 +18,7 @@
   <depend>ament_cmake_cppcheck</depend>
   <depend>ament_cmake_lint_cmake</depend>
   <depend>ament_cmake_xmllint</depend>
+  <depend>pcl_ros</depend>
   <depend>point_cloud_msg_wrapper</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

common/tier4_perception_rviz_plugin/CMakeLists.txt

@@ -22,6 +22,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 ## Declare a C++ library
 ament_auto_add_library(tier4_perception_rviz_plugin SHARED
   src/tools/util.cpp
+  src/tools/interactive_object.cpp
   src/tools/pedestrian_pose.cpp
   src/tools/car_pose.cpp
   src/tools/unknown_pose.cpp

common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp

@@ -47,10 +47,9 @@
 
 #include "car_pose.hpp"
 
-#include <unique_identifier_msgs/msg/uuid.hpp>
+#include "util.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <tf2_ros/transform_listener.h>
+#include <rviz_common/display_context.hpp>
 
 #include <algorithm>
 #include <random>
@@ -62,6 +61,12 @@ CarInitialPoseTool::CarInitialPoseTool()
 {
   shortcut_key_ = 'k';
 
+  enable_interactive_property_ = new rviz_common::properties::BoolProperty(
+    "Interactive", false, "Enable/Disable interactive action by manipulating mouse.",
+    getPropertyContainer());
+  property_frame_ = new rviz_common::properties::TfFrameProperty(
+    "Target Frame", rviz_common::properties::TfFrameProperty::FIXED_FRAME_STRING,
+    "The TF frame where the point cloud is output.", getPropertyContainer(), nullptr, true);
   topic_property_ = new rviz_common::properties::StringProperty(
     "Pose Topic", "/simulation/dummy_perception_publisher/object_info",
     "The topic on which to publish dummy object info.", getPropertyContainer(), SLOT(updateTopic()),
@@ -93,73 +98,44 @@ void CarInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-void CarInitialPoseTool::updateTopic()
-{
-  rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  dummy_object_info_pub_ = raw_node->create_publisher<dummy_perception_publisher::msg::Object>(
-    topic_property_->getStdString(), 1);
-  clock_ = raw_node->get_clock();
-}
-
-void CarInitialPoseTool::onPoseSet(double x, double y, double theta)
+Object CarInitialPoseTool::createObjectMsg() const
 {
-  dummy_perception_publisher::msg::Object output_msg;
+  Object object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
-  output_msg.header.frame_id = fixed_frame;
-  output_msg.header.stamp = clock_->now();
+  object.header.frame_id = fixed_frame;
+  object.header.stamp = clock_->now();
 
   // semantic
-  output_msg.classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR;
-  output_msg.classification.probability = 1.0;
+  object.classification.label = ObjectClassification::CAR;
+  object.classification.probability = 1.0;
 
   // shape
-  output_msg.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX;
+  object.shape.type = Shape::BOUNDING_BOX;
   const double width = 1.8;
   const double length = 4.0;
-  output_msg.shape.dimensions.x = length;
-  output_msg.shape.dimensions.y = width;
-  output_msg.shape.dimensions.z = 2.0;
+  object.shape.dimensions.x = length;
+  object.shape.dimensions.y = width;
+  object.shape.dimensions.z = 2.0;
 
   // initial state
-  // pose
-  output_msg.initial_state.pose_covariance.pose.position.x = x;
-  output_msg.initial_state.pose_covariance.pose.position.y = y;
-  output_msg.initial_state.pose_covariance.pose.position.z = position_z_->getFloat();
-  output_msg.initial_state.pose_covariance.covariance[0] =
+  object.initial_state.pose_covariance.pose.position.z = position_z_->getFloat();
+  object.initial_state.pose_covariance.covariance[0] =
     std_dev_x_->getFloat() * std_dev_x_->getFloat();
-  output_msg.initial_state.pose_covariance.covariance[7] =
+  object.initial_state.pose_covariance.covariance[7] =
     std_dev_y_->getFloat() * std_dev_y_->getFloat();
-  output_msg.initial_state.pose_covariance.covariance[14] =
+  object.initial_state.pose_covariance.covariance[14] =
     std_dev_z_->getFloat() * std_dev_z_->getFloat();
-  output_msg.initial_state.pose_covariance.covariance[35] =
+  object.initial_state.pose_covariance.covariance[35] =
     std_dev_theta_->getFloat() * std_dev_theta_->getFloat();
-  tf2::Quaternion quat;
-  quat.setRPY(0.0, 0.0, theta);
-  output_msg.initial_state.pose_covariance.pose.orientation = tf2::toMsg(quat);
-  RCLCPP_INFO(
-    rclcpp::get_logger("CarInitialPoseTool"), "Setting pose: %.3f %.3f %.3f %.3f [frame=%s]", x, y,
-    position_z_->getFloat(), theta, fixed_frame.c_str());
-  // twist
-  output_msg.initial_state.twist_covariance.twist.linear.x = velocity_->getFloat();
-  output_msg.initial_state.twist_covariance.twist.linear.y = 0.0;
-  output_msg.initial_state.twist_covariance.twist.linear.z = 0.0;
-  RCLCPP_INFO(
-    rclcpp::get_logger("CarInitialPoseTool"), "Setting twist: %.3f %.3f %.3f [frame=%s]",
-    velocity_->getFloat(), 0.0, 0.0, fixed_frame.c_str());
-
-  // action
-  output_msg.action = dummy_perception_publisher::msg::Object::ADD;
 
-  // id
   std::mt19937 gen(std::random_device{}());
   std::independent_bits_engine<std::mt19937, 8, uint8_t> bit_eng(gen);
-  std::generate(output_msg.id.uuid.begin(), output_msg.id.uuid.end(), bit_eng);
+  std::generate(object.id.uuid.begin(), object.id.uuid.end(), bit_eng);
 
-  dummy_object_info_pub_->publish(output_msg);
+  return object;
 }
-
 }  // end namespace rviz_plugins
 
 #include <pluginlib/class_list_macros.hpp>

common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp

@@ -48,45 +48,21 @@
 #ifndef TOOLS__CAR_POSE_HPP_
 #define TOOLS__CAR_POSE_HPP_
 
-#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
-#include <QObject>
-#include <rclcpp/node.hpp>
-#include <rviz_common/display_context.hpp>
-#include <rviz_common/properties/float_property.hpp>
-#include <rviz_common/properties/string_property.hpp>
-#include <rviz_default_plugins/tools/pose/pose_tool.hpp>
-#endif
-
-#include <dummy_perception_publisher/msg/object.hpp>
+#include "interactive_object.hpp"
 
 namespace rviz_plugins
 {
-class CarInitialPoseTool : public rviz_default_plugins::tools::PoseTool
-{
-  Q_OBJECT
 
+using autoware_auto_perception_msgs::msg::ObjectClassification;
+using autoware_auto_perception_msgs::msg::Shape;
+using dummy_perception_publisher::msg::Object;
+
+class CarInitialPoseTool : public InteractiveObjectTool
+{
 public:
   CarInitialPoseTool();
-  virtual ~CarInitialPoseTool() {}
-  virtual void onInitialize();
-
-protected:
-  virtual void onPoseSet(double x, double y, double theta);
-
-private Q_SLOTS:
-  void updateTopic();
-
-private:
-  rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;
-
-  rviz_common::properties::StringProperty * topic_property_;
-  rviz_common::properties::FloatProperty * std_dev_x_;
-  rviz_common::properties::FloatProperty * std_dev_y_;
-  rviz_common::properties::FloatProperty * std_dev_z_;
-  rviz_common::properties::FloatProperty * std_dev_theta_;
-  rviz_common::properties::FloatProperty * position_z_;
-  rviz_common::properties::FloatProperty * velocity_;
+  void onInitialize();
+  Object createObjectMsg() const override;
 };
 
 }  // namespace rviz_plugins