Merge pull request #191 from usdot-fhwa-stol/release/elise

Release/elise

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.9.0
+      - image: usdotfhwastol/carma-base:carma-system-3.10.0
         user: carma
         environment:
           TERM: xterm
@@ -52,7 +52,9 @@ jobs:
           command: |
             source ${INIT_ENV}
             cd autoware.ai/
-            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output ./autoware/ros/carma_autoware_build -k -b "-DCMAKE_CXX_FLAGS=${COVERAGE_FLAGS} -DCMAKE_C_FLAGS=${COVERAGE_FLAGS} -DCMAKE_BUILD_TYPE=Debug"
+            export ROS_PARALLEL_JOBS='-j2 -l2' # try to reduce memory consumption on build
+            export AUTOWARE_COMPILE_WITH_CUDA=1 
+            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output colcon build --install-base ./ros/install --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}"
       # The free version of Circle CI does not have enough memory to run tests in this repo
       # The following run statement can be used as a starting point for future implementation of automated unit tests
       # - run:

Dockerfile

@@ -1,7 +1,8 @@
-FROM usdotfhwastol/carma-base:carma-system-3.9.0 as base_image
+FROM usdotfhwastol/carma-base:carma-system-3.10.0 as base_image
 
 FROM base_image as build
 
+RUN sudo apt-get install -y ros-noetic-velodyne-pcl
 COPY --chown=carma . /home/carma/autoware.ai
 RUN /home/carma/autoware.ai/docker/checkout.bash
 RUN ./home/carma/autoware.ai/docker/install.sh
@@ -22,4 +23,4 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/autoware.ai"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-COPY --chown=carma --from=build /home/carma/autoware.ai/ros/install /opt/autoware.ai/ros/install
+COPY --chown=carma --from=build /opt/autoware.ai/ros/install /opt/autoware.ai/ros/install

autoware/ros/src/.config/rviz/subnet_chk.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 import os
@@ -23,7 +23,7 @@ def addr_v(addr):
 	return struct.unpack('!i', socket.inet_aton(addr))[0]
 
 if len(sys.argv) < 2:
-	print "Usage: {} <ipaddr|hostname|->".format(sys.argv[0])
+	print("Usage: {} <ipaddr|hostname|->".format(sys.argv[0]))
 	sys.exit(0)
 
 targ = sys.argv[1]
@@ -37,7 +37,7 @@ def addr_v(addr):
 try:
 	targ = socket.gethostbyname(targ)
 except socket.gaierror:
-	print >> sys.stderr, "%s: cannot convert to ip address" % (targ)
+	print("%s: cannot convert to ip address" % (targ), file=sys.stderr)
 	sys.exit(2)
 targ_v = addr_v(targ)
 
@@ -50,6 +50,6 @@ def addr_v(addr):
 	v = addr_v(addr)
 	mask = addr_v(mask_s)
 	if (v & mask) == (targ_v & mask):
-		print addr
+		print(addr)
 		sys.exit(0)
 sys.exit(1)

car_demo/car_demo/nodes/joystick_translator

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright 2017 Open Source Robotics Foundation
 #

common/CONTRIBUTING.md

@@ -7,15 +7,15 @@ we adhere to the [Contributor Covenant](https://www.contributor-covenant.org/),
 used [code of conduct](/CODE_OF_CONDUCT.md) adopted by many other communities such as
 Linux, Ruby on Rails and GitLab.
 
-Everyone participating in the Autoware.Auto community is expected to follow the code of
+Everyone participating in the Autoware.AI community is expected to follow the code of
 conduct.
 
 If someone in the community happens to be violating these terms, please let the project
 leads know, and we will address it as soon as possible.
 
 ## License
 
-Autoware.Auto is licensed under Apache 2, and thus all contributions will be licensed as such
+Autoware.AI is licensed under Apache 2, and thus all contributions will be licensed as such
 as per clause 5 of the Apache 2 License:
 
 ~~~
@@ -30,7 +30,7 @@ as per clause 5 of the Apache 2 License:
 
 ## Detailed contribution guidelines
 
-For more detailed information on contributing to Autoware, including development processes,
-please see the contributing guidelines on the Autoware Wiki:
+For more detailed information on contributing to Autoware.AI, please see the contributing
+guidelines on the Autoware Wiki:
 
-https://github.com/autowarefoundation/autoware/wiki/Contributing-to-Autoware
+https://github.com/Autoware-AI/autoware.ai/wiki/Contributing-to-Autoware

common/DISCLAIMER.md

@@ -0,0 +1,50 @@
+DISCLAIMER
+
+The open-source software for self-driving vehicles, Autoware.AI, Autoware.IO,
+Autoware.Auto. (collectively, referred to as “Autoware”) will be provided by
+The Autoware Foundation under the Apache 2.0 License. This “DISCLAIMER” will be
+applied to all users of Autoware (a “User” or “Users”) with the Apache 2.0
+License and Users shall hereby approve and acknowledge all the contents
+specified in this disclaimer below and will be deemed to consent to this
+disclaimer without any objection upon utilizing or downloading Autoware.
+
+
+Disclaimer and Waiver of Warranties
+
+1.  AUTOWARE FOUNDATION MAKES NO REPRESENTATION OR WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, WITH RESPECT TO PROVIDING AUTOWARE (the “Service”)
+including but not limited to any representation or warranty (i) of fitness or
+suitability for a particular purpose contemplated by the Users, (ii) of the
+expected functions, commercial value, accuracy, or usefulness of the Service,
+(iii) that the use by the Users of the Service complies with the laws and
+regulations applicable to the Users or any internal rules established by
+industrial organizations, (iv) that the Service will be free of interruption or
+defects, (v) of the non-infringement of any third party's right and (vi) the
+accuracy of the content of the Services and the software itself.
+
+2.  The Autoware Foundation shall not be liable for any damage incurred by the
+User that are attributable to the Autoware Foundation for any reasons
+whatsoever. UNDER NO CIRCUMSTANCES SHALL THE AUTOWARE FOUNDATION BE LIABLE FOR
+INCIDENTAL, INDIRECT, SPECIAL OR FUTURE DAMAGES OR LOSS OF PROFITS.
+
+3.  A User shall be entirely responsible for the content posted by the User and
+its use of any content of the Service or the Website. If the User is held
+responsible in a civil action such as a claim for damages or even in a criminal
+case, the Autoware Foundation and member companies, governments and academic &
+non-profit organizations and their directors, officers, employees and agents
+(collectively, the “Indemnified Parties”) shall be completely discharged from
+any rights or assertions the User may have against the Indemnified Parties, or
+from any legal action, litigation or similar procedures.
+
+
+Indemnity
+
+A User shall indemnify and hold the Indemnified Parties harmless from any of
+their damages, losses, liabilities, costs or expenses (including attorneys'
+fees or criminal compensation), or any claims or demands made against the
+Indemnified Parties by any third party, due to or arising out of, or in
+connection with utilizing Autoware (including the representations and
+warranties), the violation of applicable Product Liability Law of each country
+(including criminal case) or violation of any applicable laws by the Users, or
+the content posted by the User or its use of any content of the Service or the
+Website.

common/README.md

@@ -1,4 +1,7 @@
 # common
+
+![Native CI workflow](https://github.com/Autoware-AI/common/workflows/Native%20CI%20workflow/badge.svg) ![CUDA CI workflow](https://github.com/Autoware-AI/common/workflows/CUDA%20CI%20workflow/badge.svg) ![Cross CI workflow](https://github.com/Autoware-AI/common/workflows/Cross%20CI%20workflow/badge.svg)
+
 Autoware support packages used project-wide.
 
 www.autoware.org

common/SUPPORT.md

@@ -1,5 +1,3 @@
 # Support
 
-To get support for Autoware, see the support guidelines on the Autoware wiki:
-
-https://github.com/autowarefoundation/Autoware/wiki/Support-guidelines
+For detailed instructions on getting help, see the [support guidelines](https://github.com/Autoware-AI/autoware.ai/wiki/Support-guidelines).

common/amathutils_lib/CMakeLists.txt

@@ -4,26 +4,43 @@ project(amathutils_lib) # autoware math utility
 find_package(autoware_build_flags REQUIRED)
 
 find_package(Eigen3 REQUIRED)
+
+if (NOT EIGEN3_FOUND)
+    # Fallback to cmake_modules
+    find_package(cmake_modules REQUIRED)
+    find_package(Eigen REQUIRED)
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+    # Possibly map additional variables to the EIGEN3_ prefix.
+else ()
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif ()
+
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
   autoware_msgs
+  roscpp
+  roslint
   tf
   tf2
+  tf2_geometry_msgs
 )
 
 set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}")
 
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES amathutils_lib
-  CATKIN_DEPENDS autoware_msgs
-  tf
-  tf2
+  CATKIN_DEPENDS
+    autoware_msgs
+    tf
+    tf2
+    tf2_geometry_msgs
 )
 
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
 )
 
 add_library(amathutils_lib
@@ -50,7 +67,15 @@ install(TARGETS amathutils_lib
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-
+
+file(GLOB_RECURSE ROSLINT_FILES
+  LIST_DIRECTORIES false
+  *.cpp *.h *.hpp
+)
+
+list(APPEND ROSLINT_CPP_OPTS "--extensions=cc,h,hpp,cpp,cu,cuh" "--filter=-build/c++11,-runtime/references")
+roslint_cpp(${ROSLINT_FILES})
+
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest_gtest(amathutils-test test/test_amathutils_lib.test test/src/test_amathutils_lib.cpp)
@@ -59,13 +84,15 @@ if(CATKIN_ENABLE_TESTING)
     test/test_kalman_filter.test
     test/src/test_kalman_filter.cpp
     src/kalman_filter.cpp
-    src/time_delay_kalman_filter.cpp)
+    src/time_delay_kalman_filter.cpp
+  )
   target_link_libraries(test-kalman_filter ${catkin_LIBRARIES})
 
   add_rostest_gtest(test-butterworth_filter 
-                    test/test_butterworth_filter.test
-                    test/src/test_butterworth_filter.cpp
-                    src/butterworth_filter.cpp) 
+    test/test_butterworth_filter.test
+    test/src/test_butterworth_filter.cpp
+    src/butterworth_filter.cpp
+  )
   target_link_libraries(test-butterworth_filter ${catkin_LIBRARIES})
-		  
+  roslint_add_test()
 endif()