chore: sync upstream

.github/CODEOWNERS

@@ -11,6 +11,7 @@ common/autoware_testing/** adam.dabrowski@robotec.ai @autowarefoundation/autowar
 common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/component_interface_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/component_interface_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/cuda_utils/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/fake_test_node/** opensource@apex.ai @autowarefoundation/autoware-global-codeowners
 common/global_parameter_loader/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/goal_distance_calculator/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -24,6 +25,7 @@ common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takay
 common/polar_grid/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/signal_processing/** ali.boyali@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/tensorrt_common/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -59,7 +61,7 @@ evaluator/localization_evaluator/** dominik.jargot@robotec.ai @autowarefoundatio
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners
 launch/tier4_control_launch/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
 launch/tier4_localization_launch/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
-launch/tier4_map_launch/** ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners
+launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners
 launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
 launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -104,6 +106,7 @@ perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.m
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/shape_estimation/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
+perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_classifier/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -137,6 +140,7 @@ sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp @autowarefoundat
 sensing/imu_corrector/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/livox/livox_tag_filter/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
+sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/tier4_pcl_extensions/** ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners

.github/sync-files.yaml

@@ -34,7 +34,6 @@
     - source: .github/workflows/build-and-test.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
@@ -46,12 +45,12 @@
     - source: .github/workflows/build-and-test-differential.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
         "       include:" \
         "       container-suffix:
+                  - \"\"
                   - -cuda
                 include:" {source}
 
@@ -60,18 +59,17 @@
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
         "       include:" \
         "       container-suffix:
+                  - \"\"
                   - -cuda
                 include:" {source}
     - source: .github/workflows/build-and-test-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
@@ -81,8 +79,6 @@
                   - -cuda
                 include:" {source}
     - source: .github/workflows/check-build-depends.yaml
-      pre-commands: |
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
     - source: .github/workflows/clang-tidy-pr-comments.yaml
     - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
     - source: .github/workflows/update-codeowners-from-packages.yaml

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

@@ -23,17 +23,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

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

@@ -11,17 +11,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -94,4 +91,4 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.humble.repos
+          build-depends-repos: build_depends.repos

.github/workflows/build-and-test-self-hosted.yaml

@@ -13,18 +13,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
           - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

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

@@ -15,18 +15,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
           - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/check-build-depends.yaml

@@ -13,15 +13,11 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

build_depends.repos

@@ -25,10 +25,6 @@ repositories:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
     version: tier4/universe
-  universe/external/grid_map:
-    type: git
-    url: https://github.com/ANYbotics/grid_map.git
-    version: ba2f9cb6e62f7ee9c5bac7401391a211e442e459
   universe/external/mussp:
     type: git
     url: https://github.com/tier4/muSSP.git

common/cuda_utils/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.5)
+project(cuda_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(CUDA)
+
+if(NOT ${CUDA_FOUND})
+  message(WARNING "cuda is not found, so the cuda_utils package won't be built.")
+  return()
+endif()
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_dependencies(CUDA)
+
+ament_auto_package()

common/cuda_utils/include/cuda_utils/cuda_check_error.hpp

@@ -0,0 +1,44 @@
+// 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.
+
+// This code is licensed under CC0 1.0 Universal (Public Domain).
+// You can use this without any limitation.
+// https://creativecommons.org/publicdomain/zero/1.0/deed.en
+// borrowed from https://proc-cpuinfo.fixstars.com/2019/02/cuda_smart_pointer/
+
+#ifndef CUDA_UTILS__CUDA_CHECK_ERROR_HPP_
+#define CUDA_UTILS__CUDA_CHECK_ERROR_HPP_
+
+#include <cuda_runtime_api.h>
+
+#include <sstream>
+#include <stdexcept>
+
+namespace cuda_utils
+{
+template <typename F, typename N>
+void cuda_check_error(const ::cudaError_t e, F && f, N && n)
+{
+  if (e != ::cudaSuccess) {
+    std::stringstream s;
+    s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": "
+      << ::cudaGetErrorString(e);
+    throw std::runtime_error{s.str()};
+  }
+}
+}  // namespace cuda_utils
+
+#define CHECK_CUDA_ERROR(e) (cuda_utils::cuda_check_error(e, __FILE__, __LINE__))
+
+#endif  // CUDA_UTILS__CUDA_CHECK_ERROR_HPP_