Merge branch 'master' into 1377/isInLanelet

tier4 · Oct 2, 2024 · 16056d3 · 16056d3
2 parents b320845 + a8bbce3
commit 16056d3
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -61,25 +61,28 @@ jobs:
         run: |
           vcs import src < src/scenario_simulator_v2/dependency_${{ matrix.rosdistro }}.repos
 
-      - name: Resolve rosdep
+      - name: Resolve rosdep and install colcon mixin
         run: |
           apt-get update
-          apt-get install -y python3-pip
+          apt-get install -y python3-pip python3-colcon-lcov-result lcov
           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
+          colcon mixin update default
         shell: bash
 
       - name: Build packages
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_CPP_MOCK_SCENARIOS=ON --packages-up-to ${{ steps.list_packages.outputs.package_list }}
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -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
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           source install/local_setup.bash
-          colcon test --packages-select ${{ steps.list_packages.outputs.package_list }}
+          colcon test --event-handlers console_cohesion+ --packages-select ${{ steps.list_packages.outputs.package_list }}
+          colcon lcov-result --packages-select ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Show test result
@@ -97,6 +100,13 @@ jobs:
           ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
+      - name: Upload Lcov result
+        uses: actions/upload-artifact@v4
+        with:
+          name: lcov
+          path: lcov
+          retention-days: 1
+
 #      - name: Basic test
 #        run: |
 #          source install/setup.bash

diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json
@@ -5,6 +5,7 @@
     "AUTORCC",
     "Canonicalized",
     "canonicalizing",
+    "cfamily",
     "classname",
     "Cmyk",
     "Dawid",
@@ -15,11 +16,8 @@
     "DWITH_INTEGRATION_TEST",
     "engageable",
     "euclidian",
-    "hakuturu",
-    "Kataoka",
     "libunwind",
     "linelint",
-    "Masaya",
     "Mersenne",
     "Monic",
     "Moszynski",
@@ -43,7 +41,6 @@
     "Tschirnhaus",
     "walltime",
     "xerces",
-    "xercesc",
-    "yamacir-kit"
+    "xercesc"
   ]
 }
diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,35 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

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>4.3.2</version>
+  <version>4.3.7</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 +21,35 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

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>4.3.2</version>
+  <version>4.3.7</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 +21,35 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

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>4.3.2</version>
+  <version>4.3.7</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 +21,35 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

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>4.3.2</version>
+  <version>4.3.7</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 +21,35 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

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>4.3.2</version>
+  <version>4.3.7</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/docs/user_guide/QuickStart.md b/docs/user_guide/QuickStart.md
@@ -2,7 +2,7 @@
 
 ### Scenario Simulator v2 with Autoware Universe
 
-This guide provides step-by-step instructions for building and running **Scenario Simulator v2** alongside [**Autoware Universe**](https://github.com/autowarefoundation/autoware).<br> It covers the required setup and prerequisites.
+This guide provides step-by-step instructions for building and running **Scenario Simulator v2** alongside [**Autoware Universe**](https://github.com/autowarefoundation/autoware). It covers the required setup and prerequisites.
 
 ## Prerequisites 
 
@@ -32,8 +32,8 @@ This guide provides step-by-step instructions for building and running **Scenari
       ```bash
       ./setup-dev-env.sh
       ```
-      !!! Note 
-          This step will install necessary dependencies, including ROS 2, if not already installed. <br> Make sure to confirm and agree with the licenses for NVIDIA libraries like [CUDA](https://docs.nvidia.com/cuda/eula/index.html), [cuDNN](https://docs.nvidia.com/deeplearning/cudnn/latest/reference/eula.html), and [TensorRT](https://docs.nvidia.com/deeplearning/tensorrt/sla/index.html).
+!!! note
+    This step will install necessary dependencies, including ROS 2, if not already installed. <br> Make sure to confirm and agree with the licenses for NVIDIA libraries like [CUDA](https://docs.nvidia.com/cuda/eula/index.html), [cuDNN](https://docs.nvidia.com/deeplearning/cudnn/latest/reference/eula.html), and [TensorRT](https://docs.nvidia.com/deeplearning/tensorrt/sla/index.html).
 
    5. Install dependent ROS packages.
       ```bash
@@ -45,8 +45,8 @@ This guide provides step-by-step instructions for building and running **Scenari
       ```bash
       colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
       ```
-      !!! Note 
-          For detailed guidance on build issues and troubleshooting, please refer to the [Autoware Troubleshooting Guide](https://autowarefoundation.github.io/autoware-documentation/main/support/troubleshooting/#build-issues).
+!!! note
+    For detailed guidance on build issues and troubleshooting, please refer to the [Autoware Troubleshooting Guide](https://autowarefoundation.github.io/autoware-documentation/main/support/troubleshooting/#build-issues).
 
    ![Build success](../image/ss2_autoware_build_result.png)
    *As a result of running the `colcon build` command, all packages should be built successfully.*
@@ -88,8 +88,8 @@ This guide provides step-by-step instructions for building and running **Scenari
    sensor_model:=sample_sensor_kit \
    vehicle_model:=sample_vehicle timeout:=120.0
    ``` 
-   !!! Note 
-      To modify parameters of random testing and to obtain more details about the test results and the **result.junit.xml** file (which is saved by default in the **/tmp** directory), please refer to the **random_test_runner** [documentation](random_test_runner/Usage.md).
+!!! note
+    To modify parameters of random testing and to obtain more details about the test results and the **result.junit.xml** file (which is saved by default in the **/tmp** directory), please refer to the **random_test_runner** [documentation](random_test_runner/Usage.md).
 
    ![Launching random_test_runner](../image/random_test_runner_launch.gif)
    *The process of launching the `random_test_runner` node.*

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,42 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.7 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/sonar_cloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/sonar_cloud
+* Contributors: Masaya Kataoka
+
+4.3.6 (2024-09-27)
+------------------
+
+4.3.5 (2024-09-27)
+------------------
+* Merge branch 'master' into feature/lcov
+* Contributors: Masaya Kataoka
+
+4.3.4 (2024-09-27)
+------------------
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Merge branch 'master' into RJD-1201/fix_quick_start
+* Contributors: SzymonParapura
+
+4.3.3 (2024-09-26)
+------------------
+* Merge pull request `#1369 <https://github.com/tier4/scenario_simulator_v2/issues/1369>`_ from tier4/fix/acquire-position-action
+  Fix/acquire position action
+* Merge branch 'master' into fix/acquire-position-action
+* Merge branch 'master' into fix/acquire-position-action
+* Update the clear route service call to be attempted multiple times
+* Merge branch 'master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Remove member function `TransitionAssertion::makeTransitionError`
+* Update to check `initialize_duration` only if it has never been engaged
+* Cleanup struct `TransitionAssertion`
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Merge remote-tracking branch 'origin/master' into fix/acquire-position-action
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 4.3.2 (2024-09-24)
 ------------------
 * Merge branch 'master' into fix/imu_frame

diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
@@ -84,6 +84,11 @@ class FieldOperatorApplicationFor<AutowareUniverse>
 
   auto receiveEmergencyState(const tier4_external_api_msgs::msg::Emergency & msg) -> void;
 
+  /*
+     NOTE: This predicate should not take the state being compared as an
+     argument or template parameter. Otherwise, code using this class would
+     need to have knowledge of the Autoware state type.
+  */
 #define DEFINE_STATE_PREDICATE(NAME, VALUE)                  \
   auto is##NAME() const noexcept                             \
   {                                                          \