feat: new documentation

.cspell.json

@@ -37,6 +37,7 @@
     "imread",
     "imshow",
     "imwrite",
+    "innoviz",
     "intrinsics",
     "kalman",
     "keyframes",
@@ -76,7 +77,10 @@
     "representer",
     "reprojected",
     "reprojection",
+    "reprojections",
     "rosbag",
+    "ros2",
+    "ROS2",
     "rosidl",
     "ruamel",
     "rvec",

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

@@ -11,12 +11,8 @@ 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.repos
@@ -61,29 +57,3 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ros:galactic
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: galactic
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

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

@@ -15,12 +15,8 @@ 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.repos

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

@@ -3,18 +3,24 @@ name: check-build-depends
 on:
   pull_request:
     paths:
-      - build_depends.repos
+      - build_depends*.repos
 
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        include:
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/[email protected]
-
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -26,6 +32,6 @@ jobs:
       - name: Build
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}

TROUBLESHOOTING.md

@@ -0,0 +1,17 @@
+# Troubleshooting & known issues
+
+## Numpy errors
+
+If the user should encounter the following error:
+
+```text
+AttributeError: module 'numpy' has no attribute 'float'.
+`np.float` was a deprecated alias for the builtin `float`. To avoid this error in existing code, use `float` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.float64` here.
+The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
+    https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations. Did you mean: 'cfloat'?
+```
+
+It is highly due to a mismatch between the `numpy` and `transforms3d` versions in your system.
+The simplest solution would be to upgrade `transforms3d` with `pip install transforms3d --upgrade`. Alternatively, the use can downgrade his version of `numpy` but doing so is more likely to incur on other issues.
+
+At the time of writing this page, compatible versions are `numpy==1.26.4` and `transforms3d==0.4.2`

build_depends.repos

@@ -5,16 +5,12 @@ repositories:
     version: main
   autoware/universe:
     type: git
-    url: https://github.com/tier4/autoware.universe.git
-    version: tier4/main
+    url: https://github.com/autowarefoundation/autoware.universe.git
+    version: main
   autoware/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
     version: tier4/universe
-  autoware/auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   missing_packages/astuff_sensor_msgs:
     type: git
     url: https://github.com/astuff/astuff_sensor_msgs.git

calibration_tools_standalone.repos

@@ -0,0 +1,49 @@
+repositories:
+  calibration_tools:
+    type: git
+    url: https://github.com/tier4/CalibrationTools.git
+    version: tier4/universe
+  autoware/common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: main
+  autoware/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
+  autoware/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: main
+  autoware/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  autoware/universe:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.universe.git
+    version: main
+  vendor/lidartag:
+    type: git
+    url: https://github.com/tier4/LiDARTag.git
+    version: humble
+  vendor/lidartag_msgs:
+    type: git
+    url: https://github.com/tier4/LiDARTag_msgs.git
+    version: tier4/universe
+  vendor/apriltag_msgs:
+    type: git
+    url: https://github.com/christianrauch/apriltag_msgs.git
+    version: 2.0.0
+  vendor/apriltag_ros:
+    type: git
+    url: https://github.com/christianrauch/apriltag_ros.git
+    version: e814e9e5d5f1bfb60a4aa685d30977c632bbc540
+  vendor/ros2_numpy:
+    type: git
+    url: https://github.com/Box-Robotics/ros2_numpy.git
+    version: humble
+  vendor/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main

sensor/extrinsic_manual_calibrator/package.xml → calibrators/extrinsic_manual_calibrator/package.xml

@@ -11,11 +11,11 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_calibration_msgs</depend>
 
   <exec_depend>tunable_static_tf_broadcaster</exec_depend>

sensor/extrinsic_manual_calibrator/src/extrinsic_manual_calibrator_node.cpp → calibrators/extrinsic_manual_calibrator/src/extrinsic_manual_calibrator_node.cpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <extrinsic_manual_calibrator/extrinsic_manual_calibrator_node.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <memory>
 
@@ -92,15 +92,15 @@ geometry_msgs::msg::Pose ExtrinsicManualCalibratorNode::getTfParameters(
   pose.position.x = params.get().at(0).as_double();
   pose.position.y = params.get().at(1).as_double();
   pose.position.z = params.get().at(2).as_double();
-  pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(
+  pose.orientation = autoware::universe_utils::createQuaternionFromRPY(
     params.get().at(3).as_double(), params.get().at(4).as_double(), params.get().at(5).as_double());
   return pose;
 }
 void ExtrinsicManualCalibratorNode::setTfParameters(
   const rclcpp::AsyncParametersClient::SharedPtr & client, const geometry_msgs::msg::Pose & pose)
 {
   const auto xyz = pose.position;
-  const auto rpy = tier4_autoware_utils::getRPY(pose.orientation);
+  const auto rpy = autoware::universe_utils::getRPY(pose.orientation);
   auto results = client->set_parameters(
     {rclcpp::Parameter("tf_x", xyz.x), rclcpp::Parameter("tf_y", xyz.y),
      rclcpp::Parameter("tf_z", xyz.z), rclcpp::Parameter("tf_roll", rpy.x),

sensor/extrinsic_map_based_calibrator/package.xml → calibrators/extrinsic_map_based_calibrator/package.xml

@@ -12,6 +12,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
@@ -22,7 +23,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_calibration_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

sensor/ground_plane_calibrator/include/ground_plane_calibrator/ground_plane_calibrator.hpp → calibrators/ground_plane_calibrator/include/ground_plane_calibrator/ground_plane_calibrator.hpp

@@ -1,4 +1,4 @@
-// Copyright 2024 Tier IV, Inc.
+// Copyright 2024 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.
@@ -16,8 +16,8 @@
 #define GROUND_PLANE_CALIBRATOR__GROUND_PLANE_CALIBRATOR_HPP_
 
 #include <Eigen/Dense>
+#include <autoware/kalman_filter/kalman_filter.hpp>
 #include <ground_plane_calibrator/utils.hpp>
-#include <kalman_filter/kalman_filter.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_ground_plane_utils/ground_plane_utils.hpp>
@@ -46,6 +46,7 @@
 namespace ground_plane_calibrator
 {
 
+using autoware::kalman_filter::KalmanFilter;
 using PointType = pcl::PointXYZ;
 using tier4_ground_plane_utils::GroundPlaneExtractorParameters;
 

sensor/ground_plane_calibrator/include/ground_plane_calibrator/utils.hpp → calibrators/ground_plane_calibrator/include/ground_plane_calibrator/utils.hpp

@@ -1,4 +1,4 @@
-// Copyright 2024 Tier IV, Inc.
+// Copyright 2024 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.

sensor/ground_plane_calibrator/package.xml → calibrators/ground_plane_calibrator/package.xml

@@ -12,11 +12,12 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_kalman_filter</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>image_transport</depend>
-  <depend>kalman_filter</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
@@ -26,7 +27,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_calibration_msgs</depend>
   <depend>tier4_ground_plane_utils</depend>
   <depend>visualization_msgs</depend>

sensor/ground_plane_calibrator/src/ground_plane_calibrator.cpp → calibrators/ground_plane_calibrator/src/ground_plane_calibrator.cpp

@@ -1,4 +1,4 @@
-// Copyright 2024 Tier IV, Inc.
+// Copyright 2024 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.
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <ground_plane_calibrator/ground_plane_calibrator.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
 
@@ -276,9 +276,9 @@ void ExtrinsicGroundPlaneCalibrator::filterGroundModelEstimation(
 
   Eigen::Vector3d estimated_translation;
   auto estimated_rpy =
-    tier4_autoware_utils::getRPY(tf2::toMsg(estimated_base_to_lidar_transform).orientation);
+    autoware::universe_utils::getRPY(tf2::toMsg(estimated_base_to_lidar_transform).orientation);
   auto initial_rpy =
-    tier4_autoware_utils::getRPY(tf2::toMsg(initial_base_to_lidar_transform_).orientation);
+    autoware::universe_utils::getRPY(tf2::toMsg(initial_base_to_lidar_transform_).orientation);
 
   if (verbose_) {
     RCLCPP_INFO(

sensor/ground_plane_calibrator/src/main.cpp → calibrators/ground_plane_calibrator/src/main.cpp

@@ -1,4 +1,4 @@
-// Copyright 2024 Tier IV, Inc.
+// Copyright 2024 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.

sensor/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/calibrator.py → calibrators/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/calibrator.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Tier IV, Inc.
+# Copyright 2024 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.

sensor/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/image_view.py → calibrators/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/image_view.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Tier IV, Inc.
+# Copyright 2024 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.

sensor/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/interactive_calibrator.py → calibrators/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/interactive_calibrator.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Tier IV, Inc.
+# Copyright 2024 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.
@@ -182,6 +182,7 @@ def calibration_intrinsics_callback():
             self.optimized_camera_info = camera_lidar_calibrate_intrinsics(
                 np.array(self.object_calibration_points + self.external_object_calibration_points),
                 np.array(self.image_calibration_points + self.external_image_calibration_points),
+                self.camera_info,
             )
             self.use_optimized_intrinsics_checkbox.setEnabled(True)
 

sensor/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/ros_interface.py → calibrators/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/ros_interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Tier IV, Inc.
+# Copyright 2024 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.

sensor/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/utils.py → calibrators/interactive_camera_lidar_calibrator/interactive_camera_lidar_calibrator/utils.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Tier IV, Inc.
+# Copyright 2024 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.