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chore(dev): merge latest awf-universe-core-combined-latest - #6
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…/autoware_universe#13443) Select component coverage by ID and remove the obsolete Shields TODO. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
Co-authored-by: github-actions <github-actions@github.com>
…_universe#13448) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
…ation/autoware_universe#13447) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
…dation/autoware_core#1467) * added TEST 3 to confirm node processes pose and twist measurement updates properly Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * added a teste case when pop leads to max queue size Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * added another test case for pose and twist queuing mechanics Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * added 2 test cases for guarding large and too slow ekf dt warning meesasages (codecov grinding) Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * [ishikawa] removed useless PoseAndTwistQueues test case inside etst aged object queue Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * [sasaki] removed 2 warning message test cases in test warning messages (Im sorry I just wanna boost codecov) Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> --------- Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com>
…foundation/autoware_core#1470) * refactor(autoware_stop_filter): remove doc comments from StopFilter Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_stop_filter): introduce StopFilterConfig Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_stop_filter): introduce StopFilterResult Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_stop_filter): move StopFilterResult fields into output messages Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> --------- Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Co-authored-by: Tran Huu Nhat Huy <29034232+TranHuuNhatHuy@users.noreply.github.com>
…is off (autowarefoundation/autoware_universe#13450) `no_rendering_mode` turns the scene rendering off, yet the camera sensors in the sensor mapping were still spawned in CARLA, where they can only ever return an empty image. Worse, the same flag describes the case that matters: a CARLA server started without a renderer (`CarlaUnreal.sh -nullrhi`) **segfaults as soon as a camera sensor is spawned on it**. Every call the bridge makes afterwards fails with an opaque `RuntimeError: std::exception`, so the logs point at whatever RPC came next rather than at the camera. The ray-cast LiDAR needs no renderer and keeps producing points, which makes such a server otherwise useful for headless LiDAR-only closed-loop runs. A client cannot detect a renderer-less server: its world settings, blueprint library and sensor attributes are byte-for-byte identical to a rendering one (verified by diffing a full client-side dump of both), and probing by spawning a test camera is what kills it. So follow `no_rendering_mode` and leave the cameras out of the CARLA spawn list, naming the skipped sensors once in a warning. Every sensor that works without rendering is spawned as before, the same sensor mapping now works with and without rendering, and the behaviour with rendering on is unchanged. Verified on CARLA 0.10 `-nullrhi` with the full 9-sensor mapping (6 RGB cameras) and `no_rendering_mode:=True`: all six cameras are named in the warning and skipped, the ego spawns, LiDAR publishes at 10.0 Hz, the camera topics stay silent, and the CARLA server stays up - where previously it segfaulted (exit 139). Signed-off-by: Masaya Kataoka <cld-masaya.kataoka@tier4.jp> Co-authored-by: Masaya Kataoka <cld-masaya.kataoka@tier4.jp> Co-authored-by: Claude Opus 5 (1M context) <noreply@anthropic.com> Co-authored-by: Max-Bin <vborisw@gmail.com>
…m5f2's branch (autowarefoundation/autoware_core#1447) * add: tests for align service, based on the following @takam5f2's branch * https://github.com/takam5f2/autoware_core/blob/5268228fadf9d74804178f8d698172a11364314b/localization/autoware_ndt_scan_matcher/test/test_ndt_scan_matcher_characteristics.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix of redefinition Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * remove: a non-functional test (assertion) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: test name and corresponding comment Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: do not use article for test name * Apply the following review comment: - autowarefoundation/autoware_core#1447 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Tran Huu Nhat Huy <29034232+TranHuuNhatHuy@users.noreply.github.com>
…undation/autoware_universe#13462) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…undation/autoware_core#1452) * pure moves of utility funcs into utils Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * rename and reinit node wrapper Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * implement core logic modules Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * refactor namings in test suites Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * updated cmakelists Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * bugs fixed build test all good I guess Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * minor fix Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * style(pre-commit): autofix * precommit fixes Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * [komiya] fixed output_pose_covariance_ declaration redundancy Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * [komiya] fixed pose error check threshold by adding a geetter for this problem Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * [komiya] lol I forgot this one Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> * style(pre-commit): autofix * [ando] removed the CoreWarnings as its kinda useless here Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> --------- Signed-off-by: TranHuuNhatHuy <huy9515@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…zer (autowarefoundation/autoware_universe#13163) * move package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * use localization interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * update design file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Junya Sasaki <junya.sasaki@tier4.jp>
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com>
…utowarefoundation/autoware_core#1487) * add: characterization test for map update Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: fix wrong conflict resolve in previous commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * tiny fix: insert line change for readability Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * test(`ndt_scan_matcher`): spy on map loader calls Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> * test: improve code readability Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * test: sprit a huge test into two Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 5 <noreply@anthropic.com> Co-authored-by: Tran Huu Nhat Huy <29034232+TranHuuNhatHuy@users.noreply.github.com>
…h whole build dependency (autowarefoundation/autoware_universe#13473) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
* chore: sync files Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Motsu-san
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I confirmed the build is OK and pose_initialization_requester ran successful.
…n/autoware_universe#13463) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…ed to autoware_rviz_plugins) (autowarefoundation/autoware_universe#13497) The two packages move to autowarefoundation/autoware_rviz_plugins with the same package names and plugin class names. Remove them here, with their lines in .github/CODEOWNERS and common/.pages. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
…undation/autoware_universe#13508) Remove system/autoware_component_monitor and its CODEOWNERS entry. The package now lives in autowarefoundation/autoware_component_monitor and is registered in the Autoware Index. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…toware_universe#13515) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…undation/autoware_universe#13519) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com>
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com>
…efault (autowarefoundation/autoware_core#1503) * test: add optional cases, which are disabled as default Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> * fix: split huge test into two, for readability Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> * fix: improve test code readability Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: confusing test name (see below) * Before this fix, we might guess as follows, really confusing: (empty map) update: the map is empty / a stub placeholder empty (map update): the update carries nothing Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: focus on filtered, also fix unclear variable name * Apply the following review comment: - autowarefoundation/autoware_core#1503 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: separate mixed context test into two * Apply the following review comment: - autowarefoundation/autoware_core#1503 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: respect AAA-pattern, do not do multiple task for readability * Apply the following review comment: - autowarefoundation/autoware_core#1503 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: do not test non-functional property * String might change very easily, even it is not core logic * Apply the following review comment: - autowarefoundation/autoware_core#1503 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: mixed Act and Assert in for-loop * Apply the following review comment: - autowarefoundation/autoware_core#1503 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
…ted angular velocity matches the motion (autowarefoundation/autoware_universe#13406) * fix(autoware_carla_interface): bound the physics substep so the reported angular velocity matches the motion CARLA integrates the vehicle physics in substeps of at most max_substep_delta_time, which it defaults to 0.01 s. At that resolution the angular velocity the vehicle reports stops integrating to the rotation its own transform performs: driving straight for 27.8 s at a 1/60 s step, the reported yaw rate integrated to 9.41 deg against the 0.03 deg the vehicle actually turned. The IMU is faithful to the body -- its gyroscope matches get_angular_velocity() to seven significant figures, and the bridge copies that with a sign flip -- so the error is in the rigid body's own state, and both the IMU and the velocity report carry a phantom yaw rate of up to 0.9 deg/s. It is deterministic and depends on where the vehicle is, which is why some runs carry it and others do not. Expose the substep as a parameter and default it to 2 ms. On the same drive the mismatch is then 0.005 deg (-7.466 deg of integrated gyro error before, +0.001 deg after), and across an eleven-drive bench set the worst phantom rate went from 0.90212 to 0.00348 deg/s. Only the substep moves; fixed_delta_seconds is untouched, so a run keeps its pacing at the cost of more physics iterations per step. Setting the parameter to 0 leaves CARLA's own substepping settings untouched. CARLA requires fixed_delta_seconds <= max_substep_delta_time * max_substeps, so max_substeps is derived from the step length instead of being configured separately; with the package default 0.05 s step a fixed count of 10 would put the budget at 0.02 s and CARLA would reject the settings. Claude-Session: https://claude.ai/code/session_011TMdPd8VUDxUrFtckxg2AQ Signed-off-by: ujinf74 <ujin@tukorea.ac.kr> * fix(autoware_carla_interface): keep the substep inside both CARLA constraints libcarla warns unless max_substeps is in [1-16], next to the inequality this package already documented. Deriving the count as ceil(fixed_delta_seconds / max_substep_delta_time) leaves that range for most step lengths, including the package's own default: a 0.05 s step with a 2 ms substep asks for 25, and the earlier benchmarks only stayed inside the range because they ran at 1/60 s. Capping the count at 16 instead would satisfy the range and break the inequality, since 16 substeps of 2 ms budget 0.032 s for a 0.05 s step. Lengthening the substep to fill the step with exactly 16 satisfies both; at the default step a requested 2 ms becomes 3.125 ms. Verified against a 0.9.16 server: the settings as derived before warn about the substep count, capping the count alone warns about the inequality instead, and 16 substeps of 3.125 ms warn about neither. Both constraints hold for every step length from 0.1 s down to 1/600 s. Also record what the setting is worth per CARLA version. Review measurements on 0.10 (Chaos) found the reported-yaw mismatch staying within 0.03 deg at any substep, where 0.9.x (PhysX) carries the drift this documented, and the setting costs 1.3-1.8x the server's physics time per tick. The README and the parameter table now say to set it to 0 on a 0.10 server. Signed-off-by: ujinf74 <ujin@tukorea.ac.kr> * chore: add libcarla to the spell-check dictionary The README now names libcarla when describing the two constraints it warns about, and spell-check-differential flags it. Signed-off-by: ujinf74 <ujin@tukorea.ac.kr> --------- Signed-off-by: ujinf74 <ujin@tukorea.ac.kr> Co-authored-by: Masaya Kataoka <ms.kataoka@gmail.com>
…foundation/autoware_core#1490) * chore(autoware_map_height_fitter): move to common directory Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix link Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
…a_blackboard to 0.5.0 (autowarefoundation/autoware_universe#13553) Signed-off-by: github-actions <github-actions@github.com> Co-authored-by: github-actions <github-actions@github.com>
…utoware_universe#13522) The deploy-docs template builds the site of a fork pull request as an artifact. The comment-docs-artifact template comments its download link. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…dation/autoware_universe#13564) * refactor!: move the CUDA base packages to autoware_cuda autoware_cuda_dependency_meta, autoware_cuda_utils, and autoware_tensorrt_common now live in https://github.com/autowarefoundation/autoware_cuda, released as 1.0.0. Remove them here, with their CODEOWNERS lines. Until the CI images contain autoware_cuda, build_depends_nightly.repos imports it at core/cuda/autoware_cuda. cuda_blackboard moves to core/cuda/cuda_blackboard, next to it. The headers of both repos files name these exceptions to the rule against core repositories. The links in the design document of autoware_tensorrt_vad now point to autoware_cuda at 1.0.0. Part of autowarefoundation/autoware#7340. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> * fix: drop the name from the TODO and group cuda_blackboard under core The spell check does not know the name in the TODO. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> * fix: pin autoware_cuda in build_depends_stable.repos The CPU-only CI images will never contain autoware_cuda, so the universe CI must always build it from source. The entry moves from the nightly file to the stable file, pinned to 1.0.0. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> --------- Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
* chore: sync files Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> * chore: apply pre-commit Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> --------- Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
…/autoware_universe#13568) The only user of negotiated is cuda_blackboard, which is at core/cuda/cuda_blackboard since 0.53.2. The autoware.repos file moves negotiated to the same path, so that the core CUDA images can build cuda_blackboard from src/core. This change keeps the two files in line. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…towarefoundation/autoware_universe#11701) * feat: add road marker mode parameter Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: add road surface lidar marker extension Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * docs: add road marker mode parameter Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: add unit tests for LidarMarkerLocalizer and implement testing framework Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * docs: describe road_surface_mode in schema State that the road surface mode does not observe the lateral position and must be used only where the lateral position relative to the marker is known, and how the other parameters and debug grids behave in it. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * refactor: use ament_auto_add_gtest for unit test Use ament_auto_add_gtest as the other packages do, so that the test links the package library and its dependencies without listing them, and declare ament_cmake_gtest as a test dependency. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * refactor: separate marker detection from the node Move the marker detection in LidarMarkerLocalizer::detect_landmarks into the free function detect_landmarks in marker_detector.hpp, which takes a pcl point cloud and DetectionParam and returns the detected landmarks and the debug grids. The node converts the message, logs the warnings and publishes the grids as before, so the behavior does not change. The test calls the function directly, so LidarMarkerLocalizer no longer exposes its parameters and detect_landmarks for the test. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * test: verify marker detection with detectable inputs The previous test gave a point cloud of two points at the origin, so detect_landmarks returned early with "bin_num is too small" and the expectations under `if (!result.empty())` never ran. Build point clouds of 3 rings with a low, high, high, low intensity pattern along the x-axis, and check the detected marker pose in both modes, the cases without a marker, too few bins and no points, and the debug grid of the road surface mode. The expected values are derived from the input in the comments. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * refactor: read detection parameters into DetectionParam directly Hold DetectionParam in Param and declare the detection parameters into it, instead of keeping the same values in both Param and a separate DetectionParam and copying them in the constructor. A new detection parameter now needs to be added only to DetectionParam. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> --------- Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Motsu-san
approved these changes
Nov 6, 2026
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Summary
Bring
devup to date withawf-universe-core-combined-latest(ecaf54a5).The combined branch was refreshed with
tools/mirror.py:mirror autoware_universe --push:awf-latestfast-forwardb8eacf02→cb1ddc59mirror autoware_core --push:awf-core-latestfast-forward7c148a39→31dcca73combine awf-universe-core-combined-latest --verify --push: fast-forward4e2a777d→ecaf54a5, both builds reproducibleThe combined history
devwas last based on (38bfd845) is still an ancestor of the new tip, so this is a plain merge with no conflicts and no duplicated commits.Commits brought in (15)
workflow): add a workflow that doesrosdep installcheck with whole build dependency (feat(workflow): add a workflow that doesrosdep installcheck with whole build dependency autowarefoundation/autoware_universe#13473)ndt_scan_matcher): add characterization test for map update (test(ndt_scan_matcher): add characterization test for map update autowarefoundation/autoware_core#1487)ndt_scan_matcher): add tests for align service, based on @takam5f2's branch (test(ndt_scan_matcher): add tests for align service, based on @takam5f2's branch autowarefoundation/autoware_core#1447)🤖 Generated with Claude Code