feat: add autoware auto dependencies (autowarefoundation#185)

* Back port .auto control packages (autowarefoundation#571) * Implement Lateral and Longitudinal Control Muxer * [autowarefoundation#570] Porting wf_simulator * [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [autowarefoundation#1057] Add osqp_interface package * [autowarefoundation#1057] Add library code for MPC-based lateral control * [autowarefoundation#1271] Use std::abs instead of abs * [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD * [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [autowarefoundation#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build error for trajectory follower nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator * [autowarefoundation#1058] Add Longitudinal Controller node * [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller * [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node * [autowarefoundation#1058] Add smoke test python launch file * [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower * [autowarefoundation#1058] Use autoware_auto_msgs * [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [autowarefoundation#1058] Remove unused parameters * [autowarefoundation#1058] Fix ros test * [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types * [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test * [autowarefoundation#1058] Fix docstring * [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState * [autowarefoundation#1058] Change class variables format to m_ prefix * [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [autowarefoundation#1058] Fix copyright dates * [autowarefoundation#1058] Reorder includes * [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests) * [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests) * [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters * [autowarefoundation#1058] Cleanup redundant logger setting in tests * [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [autowarefoundation#1058] Remove TF listener and use published vehicle state instead * [autowarefoundation#1058] Change smoke tests to use autoware_testing * [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control * [autowarefoundation#1058] Improve design documents * [autowarefoundation#1058] Disable flaky test * [autowarefoundation#1058] Properly transform vehicle state in longitudinal node * [autowarefoundation#1058] Fix TF buffer of lateral controller * [autowarefoundation#1058] Tuning of lateral controller for LGSVL * [autowarefoundation#1058] Fix formating * [autowarefoundation#1058] Fix /tf_static sub to be transient_local * [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [autowarefoundation#1379] Update trajectory_follower * [autowarefoundation#1379] Update simple_planning_simulator * [autowarefoundation#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv trajectory follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .auto trajectory_follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply .auto message split Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix build depend Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> * Port parking planner packages from .Auto (autowarefoundation#600) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms * Add astar_search (from .Auto) * Copy freespace_planner from .Auto * Update freespace_planner for .IV * Copy costmap_generator from .Auto * Copy and update had_map_utils from .Auto * Update costmap_generator * Copy costmap_generator_nodes * Update costmap_generator_nodes * Comment out all tests * Move vehicle_constant_managers to tmp_autoware_auto_dependencies * ignore pre-commit for back-ported packages Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * ignore testing Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: fix pre-commit * fix: fix markdownlint * fix: fix cpplint * feat: remove autoware_auto_dependencies Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
kminoda · Dec 15, 2021 · c152f57 · c152f57
1 parent 921fc4b
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -90,4 +90,4 @@ repos:
         args: [--quiet]
         exclude: .cu
 
-exclude: .svg|control/trajectory_follower|control/trajectory_follower_nodes|common/autoware_auto_dependencies|common/autoware_auto_perception_rviz_plugin|common/osqp_interface|simulator/simple_planning_simulator|planning/freespace_planner|planning/astar_search|planning/costmap_generator
+exclude: .svg|control/trajectory_follower|control/trajectory_follower_nodes|common/autoware_auto_cmake|common/autoware_auto_common|common/autoware_auto_geometry|common/autoware_auto_tf2|common/autoware_testing|common/fake_test_node|common/had_map_utils|common/motion_common|common/motion_testing|common/time_utils|common/vehicle_constants_manager|common/autoware_auto_perception_rviz_plugin|common/osqp_interface|simulator/simple_planning_simulator|planning/freespace_planner|planning/astar_search|planning/costmap_generator
diff --git a/build_depends.repos b/build_depends.repos
@@ -7,10 +7,6 @@ repositories:
     type: git
     url: https://github.com/tier4/tier4_ament_lint
     version: main
-  common/autoware_auto_dependencies:
-    type: git
-    url: https://github.com/tier4/AutowareArchitectureProposal.iv.git
-    version: only-autoware-auto-dependencies
   messages/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

diff --git a/common/autoware_auto_cmake/CMakeLists.txt b/common/autoware_auto_cmake/CMakeLists.txt
@@ -0,0 +1,33 @@
+# Copyright 2018 the Autoware Foundation
+#
+# 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.
+#
+# Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+cmake_minimum_required(VERSION 3.5)
+
+project(autoware_auto_cmake NONE)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS
+  "autoware_auto_cmake-extras.cmake"
+)
+
+if(BUILD_TESTING)
+    ament_lint_cmake(${CMAKE_CURRENT_SOURCE_DIR})
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  cmake
+)
diff --git a/common/autoware_auto_cmake/autoware_auto_cmake-extras.cmake b/common/autoware_auto_cmake/autoware_auto_cmake-extras.cmake
@@ -0,0 +1,16 @@
+# Copyright 2018 the Autoware Foundation
+# Co-developed by Tier IV, Inc. and Apex.AI, 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.
+
+include("${autoware_auto_cmake_DIR}/autoware_auto_cmake.cmake")
diff --git a/common/autoware_auto_cmake/cmake/autoware_auto_cmake.cmake b/common/autoware_auto_cmake/cmake/autoware_auto_cmake.cmake
@@ -0,0 +1,111 @@
+# Copyright 2021 the Autoware Foundation
+# Co-developed by Tier IV, Inc. and Apex.AI, 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.
+
+# Set lanuage standard with variables instead of per target so even targets that
+# don't use autoware_set_compile_options() have this set when importing
+# autoware_auto_cmake via ament_auto_find_build_dependencies()
+if(NOT CMAKE_C_STANDARD)
+  # Default to C11 (rcutils uses C11 thread local storage)
+  set(CMAKE_C_STANDARD 11)
+  set(CMAKE_C_STANDARD_REQUIRED ON)
+  set(CMAKE_C_EXTENSIONS OFF)
+endif()
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+# Get user-provided variables
+set(DOWNLOAD_ARTIFACTS OFF CACHE BOOL "enable artifact download")
+
+# Clang tidy
+if(TIDY_WITH_CLANG)
+  string(CONCAT CMAKE_CXX_CLANG_TIDY
+    "clang-tidy;"
+    "-checks=-*,"
+    "bugprone-*,"
+    "cert-*,"
+    "cppcoreguidelines-*,"
+    "clang-analyze-*,"
+    "google-*,"
+    "hicpp-*,"
+    "modernize-*,"
+    "performance-*,"
+    "readability-*")
+endif()
+
+# Try to adhere to strict ISO C++ as much as possible:
+#    from https://lefticus.gitbooks.io/cpp-best-practices/content/02-Use_the_Tools_Available.html
+function(autoware_set_compile_options target)
+
+  if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
+    # Causes the visibility macros to use dllexport rather than dllimport,
+    # which is appropriate when building the dll but not consuming it.
+    string(TOUPPER ${target} PROJECT_NAME_UPPER)
+    target_compile_options(${target} PRIVATE "/bigobj")
+    target_compile_definitions(${target} PRIVATE
+      ${PROJECT_NAME_UPPER}_BUILDING_DLL
+      -D_CRT_NONSTDC_NO_WARNINGS
+      -D_CRT_SECURE_NO_WARNINGS
+      -D_WINSOCK_DEPRECATED_NO_WARNINGS)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(${target} PRIVATE
+      -Wall
+      -Werror
+      -Wextra
+      #-Wshadow             # causes issues with ROS 2 headers
+      #-Wnon-virtual-dtor   # causes issues with ROS 2 headers
+      -pedantic
+      -Wcast-align
+      -Wunused
+      -Wconversion
+      -Wsign-conversion
+      -Wdouble-promotion
+      -Waddress
+      #-Wnull-dereference    # gcc6
+      #-Wduplicated-branches # gcc7
+      #-Wduplicated-cond     # gcc6
+      #-Wrestrict            # gcc7
+      -fvisibility=hidden)
+    # C++-only options
+    target_compile_options(${target}
+      PRIVATE $<$<COMPILE_LANGUAGE:CXX>: -Woverloaded-virtual -Wold-style-cast>)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX)
+    target_compile_options(${target}
+      PUBLIC $<$<COMPILE_LANGUAGE:CXX>: -Wuseless-cast>)
+    target_compile_options(${target} PRIVATE -Wlogical-op -frecord-gcc-switches)
+  endif()
+
+endfunction()
+
+# Turn off optimization compiler flags for `target` unless the variable `AUTOWARE_OPTIMIZATION_OF_SLOW_TARGETS` is
+# defined and evaluates to `true` in a boolean context.
+function(autoware_turn_off_optimization target)
+
+  if(AUTOWARE_OPTIMIZATION_OF_SLOW_TARGETS)
+    # do nothing
+  else()
+    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+      target_compile_options(${target} PRIVATE -O0)
+    endif()
+  endif()
+
+endfunction()
diff --git a/common/autoware_auto_cmake/design/autoware_auto_cmake-design.md b/common/autoware_auto_cmake/design/autoware_auto_cmake-design.md
@@ -0,0 +1,29 @@
+autoware_auto_cmake {#autoware-auto-cmake-design}
+===========
+
+This is the design document for the `autoware_auto_cmake` package.
+
+
+# Purpose
+
+Provide common CMake variables and functions to Autoware packages.
+
+Those include:
+
+- Setting the language standard
+- Getting user-provided variables
+- Providing functions to:
+  + set compiler flags
+  + turn off optimizations
+
+# Design
+
+## Usage
+
+Add `autoware_auto_cmake` as a "build_depend" in the dependent packages.
+
+### CMake variables {#cmake-config-variables}
+
+|Name|Type|Descritpion|Default|
+|----|----|-----------|-------|
+|`DOWNLOAD_ARTIFACTS`|*BOOL*|Allow downloading artifacts at build time.|`OFF`|
diff --git a/common/autoware_auto_cmake/package.xml b/common/autoware_auto_cmake/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_auto_cmake</name>
+  <version>1.0.0</version>
+  <description>Import the compiler settings defined for Autoware.Auto</description>
+  <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_lint_cmake</buildtool_depend>
+
+  <build_depend>ros_environment</build_depend>
+
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_lint_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_copyright</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_cppcheck</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_cpplint</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_uncrustify</buildtool_export_depend>
+
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <!-- <test_depend>ament_lint_auto</test_depend> -->
+  <!-- <test_depend>ament_lint_common</test_depend> -->
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt
@@ -0,0 +1,75 @@
+# Copyright 2019 the Autoware Foundation
+# Co-developed by Tier IV, Inc. and Apex.AI, 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.
+#
+# Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+cmake_minimum_required(VERSION 3.5)
+
+### Export headers
+project(autoware_auto_common)
+
+## dependencies
+find_package(ament_cmake_auto REQUIRED)
+find_package(Eigen3 REQUIRED)
+ament_auto_find_build_dependencies()
+
+include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  # Temporarily disable cpplint and uncrustify
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cpplint
+    ament_cmake_uncrustify
+  )
+
+  ament_lint_auto_find_test_dependencies()
+
+  file(GLOB_RECURSE FILES_MINUS_SOME
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/*
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/*
+  )
+
+  list(FILTER FILES_MINUS_SOME EXCLUDE REGEX ".*filesystem.hpp")
+
+  # Re-enable cpplint
+  find_package(ament_cmake_cpplint)
+  ament_cpplint(${FILES_MINUS_SOME})
+
+  # Re-enable uncrustify
+  find_package(ament_cmake_uncrustify)
+  ament_uncrustify(${FILES_MINUS_SOME})
+
+  # Unit tests
+  set(TEST_COMMON test_common_gtest)
+  ament_add_gtest(${TEST_COMMON}
+          test/gtest_main.cpp
+          test/test_bool_comparisons.cpp
+          test/test_byte_reader.cpp
+          test/test_float_comparisons.cpp
+          test/test_mahalanobis_distance.cpp
+          test/test_message_field_adapters.cpp
+          test/test_template_utils.cpp
+          test/test_angle_utils.cpp
+          test/test_type_name.cpp
+          test/test_type_traits.cpp)
+  autoware_set_compile_options(${TEST_COMMON})
+  target_compile_options(${TEST_COMMON} PRIVATE -Wno-sign-conversion)
+  target_include_directories(${TEST_COMMON} PRIVATE include)
+  ament_target_dependencies(${TEST_COMMON} builtin_interfaces Eigen3)
+endif()
+
+# Ament Exporting
+ament_auto_package()
diff --git a/common/autoware_auto_common/design/comparisons.md b/common/autoware_auto_common/design/comparisons.md
@@ -0,0 +1,66 @@
+Comparisons {#helper-comparisons}
+===========
+
+The `float_comparisons.hpp` library is a simple set of functions for performing approximate numerical comparisons.
+There are separate functions for performing comparisons using absolute bounds and relative bounds. Absolute comparison checks are prefixed with `abs_` and relative checks are prefixed with `rel_`.
+
+The `bool_comparisons.hpp` library additionally contains an XOR operator.
+
+The intent of the library is to improve readability of code and reduce likelihood of typographical errors when using numerical and boolean comparisons.
+
+# Target use cases
+
+The approximate comparisons are intended to be used to check whether two numbers lie within some absolute or relative interval.
+The `exclusive_or` function will test whether two values cast to different boolean values.
+
+# Assumptions
+
+* The approximate comparisons all take an `epsilon` parameter.
+The value of this parameter must be >= 0.
+* The library is only intended to be used with floating point types.
+A static assertion will be thrown if the library is used with a non-floating point type.
+
+# Example Usage
+
+```c++
+#include "common/bool_comparisons.hpp"
+#include "common/float_comparisons.hpp"
+
+#include <iostream>
+
+// using-directive is just for illustration; don't do this in practice
+using namespace autoware::common::helper_functions::comparisons;
+
+static constexpr auto epsilon = 0.2;
+static constexpr auto relative_epsilon = 0.01;
+
+std::cout << exclusive_or(true, false) << "\n";
+// Prints: true
+
+std::cout << rel_eq(1.0, 1.1, relative_epsilon)) << "\n";
+// Prints: false
+
+std::cout << approx_eq(10000.0, 10010.0, epsilon, relative_epsilon)) << "\n";
+// Prints: true
+
+std::cout << abs_eq(4.0, 4.2, epsilon) << "\n";
+// Prints: true
+
+std::cout << abs_ne(4.0, 4.2, epsilon) << "\n";
+// Prints: false
+
+std::cout << abs_eq_zero(0.2, epsilon) << "\n";
+// Prints: false
+
+std::cout << abs_lt(4.0, 4.25, epsilon) << "\n";
+// Prints: true
+
+std::cout << abs_lte(1.0, 1.2, epsilon) << "\n";
+// Prints: true
+
+std::cout << abs_gt(1.25, 1.0, epsilon) << "\n";
+// Prints: true
+
+std::cout << abs_gte(0.75, 1.0, epsilon) << "\n";
+// Prints: false
+```