Merge branch 'master' into fix/occluded-object-in-grid

tier4 · Apr 17, 2024 · 8530181 · 8530181
2 parents 0592f40 + 2690adb
commit 8530181
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -93,14 +93,12 @@ jobs:
         run: |
           source install/setup.bash
           source install/local_setup.bash
-          ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_test_runner)/config/workflow_example.yaml' global_frame_rate:=20
-          ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+          ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
-      - name: Basic test
-        run: |
-          source install/setup.bash
-          source install/local_setup.bash
-          ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_simulator_v2_scenarios)/workflow/basic.yaml'
-          ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
-        shell: bash
+#      - name: Basic test
+#        run: |
+#          source install/setup.bash
+#          source install/local_setup.bash
+#          ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2_scenarios/workflow/basic.txt
+#        shell: bash
diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh
@@ -0,0 +1,27 @@
+#!/bin/sh
+
+file_path="$1"
+
+# Arguments other than file path are passed to the command's arguments
+shift 1
+
+if [ ! -f "$file_path" ]
+then
+  echo "No such file: $file_path"
+  exit 1
+fi
+
+exit_status=0
+
+while IFS= read -r line
+do
+  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@"
+  ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+  command_exit_status=$?
+  if [ $command_exit_status -ne 0 ]; then
+    echo "Error: caught non-zero exit status（code: $command_exit_status)"
+    exit_status=1
+  fi
+done < "$file_path"
+
+exit $exit_status
diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package arithmetic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+* Merge pull request `#1229 <https://github.com/tier4/scenario_simulator_v2/issues/1229>`_ from tier4/feature/follow_trajectory_action_in_do_nothing_plugin
+  add follow trajectory action in do_nothing_plugin
+* add follow trajectory action in do_nothing_plugin
+* Contributors: Masaya Kataoka, Tatsuya Yamasaki
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/common/math/geometry/include/geometry/linear_algebra.hpp b/common/math/geometry/include/geometry/linear_algebra.hpp
@@ -38,6 +38,8 @@ double getInternalAngle(
 geometry_msgs::msg::Vector3 operator/(const geometry_msgs::msg::Vector3 & vec, double value);
 geometry_msgs::msg::Vector3 operator*(const geometry_msgs::msg::Vector3 & vec, double value);
 geometry_msgs::msg::Vector3 operator*(double value, const geometry_msgs::msg::Vector3 & vec);
+geometry_msgs::msg::Point operator*(const geometry_msgs::msg::Point & point, const double value);
+geometry_msgs::msg::Point operator*(const double value, const geometry_msgs::msg::Point & point);
 geometry_msgs::msg::Point operator+(
   const geometry_msgs::msg::Point & v0, const geometry_msgs::msg::Vector3 & v1);
 geometry_msgs::msg::Vector3 operator+(

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/src/linear_algebra.cpp b/common/math/geometry/src/linear_algebra.cpp
@@ -90,6 +90,19 @@ geometry_msgs::msg::Vector3 operator*(double value, const geometry_msgs::msg::Ve
   return vec * value;
 }
 
+geometry_msgs::msg::Point operator*(const geometry_msgs::msg::Point & point, const double value)
+{
+  return geometry_msgs::build<geometry_msgs::msg::Point>()
+    .x(point.x * value)
+    .y(point.z * value)
+    .z(point.z * value);
+}
+
+geometry_msgs::msg::Point operator*(const double value, const geometry_msgs::msg::Point & point)
+{
+  return point * value;
+}
+
 geometry_msgs::msg::Point operator+(
   const geometry_msgs::msg::Point & v0, const geometry_msgs::msg::Vector3 & v1)
 {

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package scenario_simulator_exception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package junit_exporter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package status_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package concealer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -5,6 +5,12 @@ Changelog for package embree_vendor
 0.0.9 (2021-07-13)
 ------------------
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="ms.kataoka@gmail.com">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package kashiwanoha_map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package cpp_mock_scenarios
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.1 (2024-04-12)
+-------------------
+
+1.14.0 (2024-04-12)
+-------------------
+* Merge pull request `#1229 <https://github.com/tier4/scenario_simulator_v2/issues/1229>`_ from tier4/feature/follow_trajectory_action_in_do_nothing_plugin
+  add follow trajectory action in do_nothing_plugin
+* add follow trajectory action in do_nothing_plugin
+* Contributors: Masaya Kataoka, Tatsuya Yamasaki
+
 1.13.0 (2024-04-11)
 -------------------
 * Merge remote-tracking branch 'origin/feature/routing-algorithm' into feature/routing-algorithm

diff --git a/mock/cpp_mock_scenarios/CMakeLists.txt b/mock/cpp_mock_scenarios/CMakeLists.txt
@@ -45,6 +45,7 @@ if(BUILD_CPP_MOCK_SCENARIOS)
   add_subdirectory(src/crosswalk)
   add_subdirectory(src/follow_front_entity)
   add_subdirectory(src/follow_lane)
+  add_subdirectory(src/follow_trajectory)
   add_subdirectory(src/lane_change)
   add_subdirectory(src/measurement)
   add_subdirectory(src/merge)

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>1.13.0</version>
+  <version>1.14.1</version>
   <description>C++ mock scenarios</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/src/follow_trajectory/CMakeLists.txt b/mock/cpp_mock_scenarios/src/follow_trajectory/CMakeLists.txt
@@ -0,0 +1,14 @@
+ament_auto_add_executable(follow_polyline_trajectory_with_do_nothing_plugin
+follow_polyline_trajectory_with_do_nothing_plugin.cpp
+)
+target_link_libraries(follow_polyline_trajectory_with_do_nothing_plugin cpp_scenario_node)
+
+install(TARGETS
+  follow_polyline_trajectory_with_do_nothing_plugin
+  DESTINATION lib/cpp_mock_scenarios
+)
+
+if(BUILD_TESTING)
+  include(../../cmake/add_cpp_mock_scenario_test.cmake)
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "follow_polyline_trajectory_with_do_nothing_plugin" "15.0")
+endif()