Merge pull request #37 from tier4/sync-upstream

chore: sync upstream

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

.github/dependabot.yaml

@@ -5,3 +5,6 @@ updates:
     schedule:
       interval: daily
     open-pull-requests-limit: 1
+    labels:
+      - bot
+      - github-actions

.github/workflows/pre-commit.yaml

@@ -5,12 +5,28 @@ on:
 
 jobs:
   pre-commit:
+    if: ${{ github.event.repository.private }}
     runs-on: ubuntu-latest
     steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.ref }}
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
 
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config.yaml
+          token: ${{ steps.generate-token.outputs.token }}

.github/workflows/sync-files.yaml

@@ -20,3 +20,7 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/sync-files@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
+          pr-labels: |
+            bot
+            sync-files
+          auto-merge-method: squash

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.2.0
     hooks:
       - id: check-json
       - id: check-merge-conflict

common/tier4_perception_rviz_plugin/src/tools/interactive_object.cpp

@@ -114,12 +114,12 @@ void InteractiveObject::update(const Ogre::Vector3 & point)
              : std::atan2(velocity_.y, velocity_.x);
 }
 
+void InteractiveObject::reset() { velocity_ = Ogre::Vector3::ZERO; }
+
 double InteractiveObject::distance(const Ogre::Vector3 & point) { return point_.distance(point); }
 
 InteractiveObjectCollection::InteractiveObjectCollection() { target_ = nullptr; }
 
-void InteractiveObjectCollection::reset() { target_ = nullptr; }
-
 void InteractiveObjectCollection::select(const Ogre::Vector3 & point)
 {
   const size_t index = nearest(point);
@@ -128,6 +128,19 @@ void InteractiveObjectCollection::select(const Ogre::Vector3 & point)
   }
 }
 
+boost::optional<std::array<uint8_t, 16>> InteractiveObjectCollection::reset()
+{
+  if (!target_) {
+    return {};
+  }
+
+  const auto uuid = target_->uuid();
+  target_->reset();
+  target_ = nullptr;
+
+  return uuid;
+}
+
 boost::optional<std::array<uint8_t, 16>> InteractiveObjectCollection::create(
   const Ogre::Vector3 & point)
 {
@@ -304,7 +317,8 @@ int InteractiveObjectTool::processMouseEvent(rviz_common::ViewportMouseEvent & e
   }
 
   if (event.rightUp()) {
-    objects_.reset();
+    const auto uuid = objects_.reset();
+    publishObjectMsg(uuid.get(), Object::MODIFY);
     return 0;
   }
 

common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp

@@ -90,6 +90,7 @@ class InteractiveObject
   void twist(geometry_msgs::msg::Twist & twist) const;
   void transform(tf2::Transform & tf_map2object) const;
   void update(const Ogre::Vector3 & point);
+  void reset();
   double distance(const Ogre::Vector3 & point);
 
 private:
@@ -105,8 +106,8 @@ class InteractiveObjectCollection
   InteractiveObjectCollection();
   ~InteractiveObjectCollection() {}
 
-  void reset();
   void select(const Ogre::Vector3 & point);
+  boost::optional<std::array<uint8_t, 16>> reset();
   boost::optional<std::array<uint8_t, 16>> create(const Ogre::Vector3 & point);
   boost::optional<std::array<uint8_t, 16>> remove(const Ogre::Vector3 & point);
   boost::optional<std::array<uint8_t, 16>> update(const Ogre::Vector3 & point);

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

@@ -43,11 +43,25 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
   traffic_light_id_input_->setRange(0, 999999);
   traffic_light_id_input_->setValue(0);
 
+  // Traffic Light Confidence
+  traffic_light_confidence_input_ = new QDoubleSpinBox();
+  traffic_light_confidence_input_->setRange(0.0, 1.0);
+  traffic_light_confidence_input_->setSingleStep(0.1);
+  traffic_light_confidence_input_->setValue(1.0);
+
   // Traffic Light Color
   light_color_combo_ = new QComboBox();
-  light_color_combo_->addItems(
-    {"RED", "AMBER", "GREEN", "WHITE", "LEFT_ARROW", "RIGHT_ARROW", "UP_ARROW", "DOWN_ARROW",
-     "DOWN_LEFT_ARROW", "DOWN_RIGHT_ARROW", "FLASHING", "UNKNOWN"});
+  light_color_combo_->addItems({"RED", "AMBER", "GREEN", "WHITE", "UNKNOWN"});
+
+  // Traffic Light Shape
+  light_shape_combo_ = new QComboBox();
+  light_shape_combo_->addItems(
+    {"CIRCLE", "LEFT_ARROW", "RIGHT_ARROW", "UP_ARROW", "DOWN_ARROW", "DOWN_LEFT_ARROW",
+     "DOWN_RIGHT_ARROW", "CROSS", "UNKNOWN"});
+
+  // Traffic Light Status
+  light_status_combo_ = new QComboBox();
+  light_status_combo_->addItems({"SOLID_ON", "SOLID_OFF", "FLASHING", "UNKNOWN"});
 
   // Set Traffic Signals Button
   set_button_ = new QPushButton("SET");
@@ -64,8 +78,8 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
   horizontal_header->setSectionResizeMode(QHeaderView::Stretch);
 
   traffic_table_ = new QTableWidget();
-  traffic_table_->setColumnCount(2);
-  traffic_table_->setHorizontalHeaderLabels({"ID", "Status"});
+  traffic_table_->setColumnCount(5);
+  traffic_table_->setHorizontalHeaderLabels({"ID", "Color", "Shape", "Status", "Confidence"});
   traffic_table_->setVerticalHeader(vertical_header);
   traffic_table_->setHorizontalHeader(horizontal_header);
 
@@ -77,34 +91,48 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
   auto * h_layout_1 = new QHBoxLayout;
   h_layout_1->addWidget(new QLabel("Rate: "));
   h_layout_1->addWidget(publishing_rate_input_);
-  h_layout_1->addWidget(new QLabel("Traffic Light ID: "));
+  h_layout_1->addWidget(new QLabel("ID: "));
   h_layout_1->addWidget(traffic_light_id_input_);
+  h_layout_1->addWidget(new QLabel("Confidence: "));
+  h_layout_1->addWidget(traffic_light_confidence_input_);
 
   auto * h_layout_2 = new QHBoxLayout;
-  h_layout_2->addWidget(new QLabel("Traffic Light Status: "));
-  h_layout_2->addWidget(light_color_combo_);
+  h_layout_2->addWidget(new QLabel("Traffic Light Color: "), 40);
+  h_layout_2->addWidget(light_color_combo_, 60);
+
+  auto * h_layout_3 = new QHBoxLayout;
+  h_layout_3->addWidget(new QLabel("Traffic Light Shape: "), 40);
+  h_layout_3->addWidget(light_shape_combo_, 60);
+
+  auto * h_layout_4 = new QHBoxLayout;
+  h_layout_4->addWidget(new QLabel("Traffic Light Status: "), 40);
+  h_layout_4->addWidget(light_status_combo_, 60);
 
   auto * v_layout = new QVBoxLayout;
   v_layout->addLayout(h_layout_1);
   v_layout->addLayout(h_layout_2);
+  v_layout->addLayout(h_layout_3);
+  v_layout->addLayout(h_layout_4);
   v_layout->addWidget(set_button_);
   v_layout->addWidget(reset_button_);
   v_layout->addWidget(publish_button_);
 
-  auto * h_layout_3 = new QHBoxLayout;
-  h_layout_3->addLayout(v_layout);
-  h_layout_3->addWidget(traffic_table_);
+  auto * h_layout_5 = new QHBoxLayout;
+  h_layout_5->addLayout(v_layout);
+  h_layout_5->addWidget(traffic_table_);
 
-  setLayout(h_layout_3);
+  setLayout(h_layout_5);
 }
 
 void TrafficLightPublishPanel::onSetTrafficLightState()
 {
   const auto traffic_light_id = traffic_light_id_input_->value();
   const auto color = light_color_combo_->currentText();
+  const auto shape = light_shape_combo_->currentText();
+  const auto status = light_status_combo_->currentText();
 
   TrafficLight traffic_light;
-  traffic_light.confidence = 1.0;
+  traffic_light.confidence = traffic_light_confidence_input_->value();
 
   if (color == "RED") {
     traffic_light.color = TrafficLight::RED;
@@ -114,24 +142,38 @@ void TrafficLightPublishPanel::onSetTrafficLightState()
     traffic_light.color = TrafficLight::GREEN;
   } else if (color == "WHITE") {
     traffic_light.color = TrafficLight::WHITE;
-  } else if (color == "LEFT_ARROW") {
-    traffic_light.color = TrafficLight::LEFT_ARROW;
-  } else if (color == "RIGHT_ARROW") {
-    traffic_light.color = TrafficLight::RIGHT_ARROW;
-  } else if (color == "UP_ARROW") {
-    traffic_light.color = TrafficLight::UP_ARROW;
-  } else if (color == "DOWN_ARROW") {
-    traffic_light.color = TrafficLight::DOWN_ARROW;
-  } else if (color == "DOWN_LEFT_ARROW") {
-    traffic_light.color = TrafficLight::DOWN_LEFT_ARROW;
-  } else if (color == "DOWN_RIGHT_ARROW") {
-    traffic_light.color = TrafficLight::DOWN_RIGHT_ARROW;
-  } else if (color == "FLASHING") {
-    traffic_light.color = TrafficLight::FLASHING;
   } else if (color == "UNKNOWN") {
     traffic_light.color = TrafficLight::UNKNOWN;
   }
 
+  if (shape == "CIRCLE") {
+    traffic_light.shape = TrafficLight::CIRCLE;
+  } else if (shape == "LEFT_ARROW") {
+    traffic_light.shape = TrafficLight::LEFT_ARROW;
+  } else if (shape == "RIGHT_ARROW") {
+    traffic_light.shape = TrafficLight::RIGHT_ARROW;
+  } else if (shape == "UP_ARROW") {
+    traffic_light.shape = TrafficLight::UP_ARROW;
+  } else if (shape == "DOWN_ARROW") {
+    traffic_light.shape = TrafficLight::DOWN_ARROW;
+  } else if (shape == "DOWN_LEFT_ARROW") {
+    traffic_light.shape = TrafficLight::DOWN_LEFT_ARROW;
+  } else if (shape == "DOWN_RIGHT_ARROW") {
+    traffic_light.shape = TrafficLight::DOWN_RIGHT_ARROW;
+  } else if (shape == "UNKNOWN") {
+    traffic_light.shape = TrafficLight::UNKNOWN;
+  }
+
+  if (status == "SOLID_OFF") {
+    traffic_light.status = TrafficLight::SOLID_OFF;
+  } else if (status == "SOLID_ON") {
+    traffic_light.status = TrafficLight::SOLID_ON;
+  } else if (status == "FLASHING") {
+    traffic_light.status = TrafficLight::FLASHING;
+  } else if (status == "UNKNOWN") {
+    traffic_light.status = TrafficLight::UNKNOWN;
+  }
+
   TrafficSignal traffic_signal;
   traffic_signal.lights.push_back(traffic_light);
   traffic_signal.map_primitive_id = traffic_light_id;
@@ -234,44 +276,77 @@ void TrafficLightPublishPanel::onTimer()
         color_label->setText("WHITE");
         color_label->setStyleSheet("background-color: #FFFFFF;");
         break;
+      case TrafficLight::UNKNOWN:
+        color_label->setText("UNKNOWN");
+        color_label->setStyleSheet("background-color: #808080;");
+        break;
+      default:
+        break;
+    }
+
+    auto shape_label = new QLabel();
+    shape_label->setAlignment(Qt::AlignCenter);
+
+    switch (light.shape) {
+      case TrafficLight::CIRCLE:
+        shape_label->setText("CIRCLE");
+        break;
       case TrafficLight::LEFT_ARROW:
-        color_label->setText("LEFT_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("LEFT_ARROW");
         break;
       case TrafficLight::RIGHT_ARROW:
-        color_label->setText("RIGHT_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("RIGHT_ARROW");
         break;
       case TrafficLight::UP_ARROW:
-        color_label->setText("UP_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("UP_ARROW");
         break;
       case TrafficLight::DOWN_ARROW:
-        color_label->setText("DOWN_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("DOWN_ARROW");
         break;
       case TrafficLight::DOWN_LEFT_ARROW:
-        color_label->setText("DOWN_LEFT_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("DOWN_LEFT_ARROW");
         break;
       case TrafficLight::DOWN_RIGHT_ARROW:
-        color_label->setText("DOWN_RIGHT_ARROW");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("DOWN_RIGHT_ARROW");
         break;
       case TrafficLight::FLASHING:
-        color_label->setText("FLASHING");
-        color_label->setStyleSheet("background-color: #7CFC00;");
+        shape_label->setText("FLASHING");
         break;
       case TrafficLight::UNKNOWN:
-        color_label->setText("UNKNOWN");
-        color_label->setStyleSheet("background-color: #808080;");
+        shape_label->setText("UNKNOWN");
         break;
       default:
         break;
     }
 
+    auto status_label = new QLabel();
+    status_label->setAlignment(Qt::AlignCenter);
+
+    switch (light.status) {
+      case TrafficLight::SOLID_OFF:
+        status_label->setText("SOLID_OFF");
+        break;
+      case TrafficLight::SOLID_ON:
+        status_label->setText("SOLID_ON");
+        break;
+      case TrafficLight::FLASHING:
+        status_label->setText("FLASHING");
+        break;
+      case TrafficLight::UNKNOWN:
+        status_label->setText("UNKNOWN");
+        break;
+      default:
+        break;
+    }
+
+    auto confidence_label = new QLabel(QString::number(light.confidence));
+    confidence_label->setAlignment(Qt::AlignCenter);
+
     traffic_table_->setCellWidget(i, 0, id_label);
     traffic_table_->setCellWidget(i, 1, color_label);
+    traffic_table_->setCellWidget(i, 2, shape_label);
+    traffic_table_->setCellWidget(i, 3, status_label);
+    traffic_table_->setCellWidget(i, 4, confidence_label);
   }
 }
 

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp

@@ -60,7 +60,10 @@ public Q_SLOTS:
 
   QSpinBox * publishing_rate_input_;
   QSpinBox * traffic_light_id_input_;
+  QDoubleSpinBox * traffic_light_confidence_input_;
   QComboBox * light_color_combo_;
+  QComboBox * light_shape_combo_;
+  QComboBox * light_status_combo_;
   QPushButton * set_button_;
   QPushButton * reset_button_;
   QPushButton * publish_button_;

control/joy_controller/README.md

@@ -41,3 +41,24 @@
 | `max_forward_velocity`    | double | absolute max velocity to go forward                                                                                |
 | `max_backward_velocity`   | double | absolute max velocity to go backward                                                                               |
 | `backward_accel_ratio`    | double | ratio to calculate deceleration (commanded acceleration is -ratio \* operation)                                    |
+
+## P65 Joystick Key Map
+
+| Acceleration         | R2                    |
+| -------------------- | --------------------- |
+| Brake                | L2                    |
+| Steering             | Left Stick Left Right |
+| Shift up             | Cursor Up             |
+| Shift down           | Cursor Down           |
+| Shift Drive          | Cursor Left           |
+| Shift Reverse        | Cursor Right          |
+| Turn Signal Left     | L1                    |
+| Turn Signal Right    | R1                    |
+| Clear Turn Signal    | A                     |
+| Gate Mode            | B                     |
+| Emergency Stop       | Select                |
+| Clear Emergency Stop | Start                 |
+| Autoware Engage      | X                     |
+| Autoware Disengage   | Y                     |
+| Vehicle Engage       | PS                    |
+| Vehicle Disengage    | Right Trigger         |