Merge pull request #1489 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.33 with tier4/main
tier4 · Aug 28, 2024 · 8b1902a · 8b1902a
2 parents 8987423 + bfaccc7
commit 8b1902a
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diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions
@@ -1,23 +1,12 @@
 *:*/test/*
 
 checkersReport
-constParameterReference
-funcArgNamesDifferent
-functionConst
-functionStatic
 missingInclude
 missingIncludeSystem
 noConstructor
-passedByValue
-redundantInitialization
-// cspell: ignore uninit
-uninitMemberVar
 unknownMacro
 unmatchedSuppression
 unreadVariable
 unusedFunction
-unusedStructMember
 useInitializationList
 useStlAlgorithm
-variableScope
-virtualCallInConstructor
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,10 +1,13 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
+common/autoware_geography_utils/** [email protected]
 common/autoware_grid_map_utils/** [email protected]
+common/autoware_kalman_filter/** [email protected] [email protected] [email protected]
 common/autoware_motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
+common/autoware_path_distance_calculator/** [email protected]
 common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_point_types/** [email protected] [email protected]
 common/autoware_test_utils/** [email protected] [email protected] [email protected] [email protected]
@@ -16,15 +19,12 @@ common/component_interface_tools/** [email protected]
 common/component_interface_utils/** [email protected] [email protected]
 common/cuda_utils/** [email protected] [email protected]
 common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
-common/geography_utils/** [email protected]
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
 common/goal_distance_calculator/** [email protected]
 common/interpolation/** [email protected] [email protected]
-common/kalman_filter/** [email protected] [email protected] [email protected]
 common/object_recognition_utils/** [email protected] [email protected] [email protected]
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
-common/path_distance_calculator/** [email protected]
 common/perception_utils/** [email protected] [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
@@ -81,19 +81,19 @@ launch/tier4_system_launch/** [email protected] [email protected]
 launch/tier4_vehicle_launch/** [email protected]
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+localization/autoware_pose2twist/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_pose_covariance_modifier/** [email protected]
 localization/autoware_stop_filter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+localization/autoware_twist2accel/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/geo_pose_projector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+localization/autoware_geo_pose_projector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/gyro_odometer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/localization_error_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/localization_util/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/pose2twist/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/pose_estimator_arbiter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/pose_instability_detector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/twist2accel/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_image_processing/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -131,7 +131,7 @@ perception/autoware_radar_object_clustering/** [email protected] shunsuke.
 perception/autoware_radar_object_tracker/** [email protected] [email protected] [email protected]
 perception/autoware_radar_tracks_msgs_converter/** [email protected] [email protected] [email protected] [email protected]
 perception/autoware_raindrop_cluster_filter/** [email protected] [email protected] [email protected]
-perception/autoware_shape_estimation/** [email protected] [email protected]
+perception/autoware_shape_estimation/** [email protected] [email protected] [email protected]
 perception/autoware_simple_object_merger/** [email protected] [email protected] [email protected]
 perception/autoware_tensorrt_classifier/** [email protected] [email protected]
 perception/autoware_tensorrt_yolox/** [email protected] [email protected]
@@ -167,7 +167,7 @@ planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_m
 planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/autoware_behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/autoware_behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** [email protected] [email protected]
@@ -201,6 +201,7 @@ planning/sampling_based_planner/autoware_path_sampler/** [email protected]
 planning/sampling_based_planner/autoware_sampler_common/** [email protected]
 sensing/autoware_image_diagnostics/** [email protected] [email protected]
 sensing/autoware_image_transport_decompressor/** [email protected] [email protected]
+sensing/autoware_pcl_extensions/** [email protected] [email protected] [email protected]
 sensing/autoware_pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/autoware_radar_scan_to_pointcloud2/** [email protected] [email protected] [email protected] [email protected]
 sensing/autoware_radar_static_pointcloud_filter/** [email protected] [email protected] [email protected] [email protected]
@@ -209,7 +210,6 @@ sensing/autoware_radar_tracks_noise_filter/** [email protected] shunsuke.m
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/imu_corrector/** [email protected] [email protected]
 sensing/livox/autoware_livox_tag_filter/** [email protected] [email protected]
-sensing/tier4_pcl_extensions/** [email protected] [email protected] [email protected]
 sensing/vehicle_velocity_converter/** [email protected]
 simulator/autoware_carla_interface/** [email protected] [email protected]
 simulator/dummy_perception_publisher/** [email protected]

diff --git a/.github/README.md b/.github/README.md
@@ -0,0 +1,55 @@
+# Overall CI Infrastructure
+
+## Machine Types
+
+### Standard GitHub-hosted runners
+
+- [Documentation](https://docs.github.com/en/actions/using-github-hosted-runners/using-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories)
+
+These runners are utilized by the majority of the workflows.
+They are free to use for public repositories, with a concurrency limit of 20 jobs per organization.
+
+**Listed specs:**
+
+| vCPU | RAM   | Storage (SSD) |
+| ---- | ----- | ------------- |
+| 4    | 16 GB | 14 GB         |
+
+**Note:** While the official documentation lists 14 GB of storage, the actual available storage is approximately 73 GB.
+
+### AWS CodeBuild runners
+
+- [AWS CodeBuild Documentation](https://docs.aws.amazon.com/codebuild/latest/userguide/action-runner.html)
+
+These runners are employed for workflows that require more resources and are funded by the Autoware Foundation budget.
+
+**Relevant machine types:**
+
+| Instance Type   | Memory | vCPUs | Price per Minute |
+| --------------- | ------ | ----- | ---------------- |
+| arm1.large      | 16 GiB | 8     | $0.015           |
+| general1.medium | 7 GB   | 4     | $0.01            |
+| general1.large  | 15 GB  | 8     | $0.02            |
+| general1.xlarge | 72 GiB | 36    | $0.0798          |
+| gpu1.small      | 15 GB  | 4     | $0.05            |
+
+**Sources:**
+
+- [Compute images supported with the CodeBuild-hosted GitHub Actions runner](https://docs.aws.amazon.com/codebuild/latest/userguide/sample-github-action-runners-update-yaml.images.html)
+- [AWS CodeBuild pricing](https://aws.amazon.com/codebuild/pricing/)
+
+## Key workflows and their runners
+
+| Workflow                           | Trigger               | Runner         |
+| ---------------------------------- | --------------------- | -------------- |
+| build-and-test (cuda)              | merge to main         | general1.large |
+| build-and-test-daily               | daily on main         | github-std     |
+| build-and-test-daily-arm64         | daily on main         | arm1.large     |
+| build-and-test-differential        | PR update             | github-std     |
+| build-and-test-differential (cuda) | PR update             | general1.large |
+| build-and-test-differential-arm64  | PR update (arm label) | arm1.large     |
+
+## Additional notes
+
+- We use [`taskset`](https://manpages.ubuntu.com/manpages/jammy/man1/taskset.1.html) from GNU Coreutils to limit the number of cores utilized by build processes. This is done to prevent overloading the self-hosted runners.
+  - The number of cores is limited to `vCPU count - 1`.
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
@@ -39,3 +39,8 @@
   - tools/**/*
 "component:vehicle":
   - vehicle/**/*
+"tag:require-cuda-build-and-test":
+  - perception/**/*
+  - sensing/**/*
+  - common/cuda_utils/**/*
+  - common/tensorrt_common/**/*
diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml
@@ -5,9 +5,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build-and-test-daily-arm64:
-    runs-on: [self-hosted, linux, ARM64]
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -30,6 +34,9 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -55,6 +62,7 @@ jobs:
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: taskset --cpu-list 0-6
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}

diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml
@@ -7,7 +7,7 @@ on:
 
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64]
+    runs-on: [self-hosted, linux, X64, gpu]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml
@@ -8,6 +8,10 @@ on:
       - reopened
       - labeled
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   make-sure-label-is-present:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
@@ -17,7 +21,7 @@ jobs:
   build-and-test-differential-arm64:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: [self-hosted, linux, ARM64]
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -44,6 +48,9 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,6 +76,7 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: taskset --cpu-list 0-6
 
       - name: Test
         id: test