feat: upstream to main

.clang-tidy-ci

@@ -1,6 +1,17 @@
 Checks: "
   -*,
-  bugprone-dangling-handle"
+  bugprone-*,
+  -bugprone-branch-clone,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-exception-escape,
+  -bugprone-implicit-widening-of-multiplication-result,
+  -bugprone-infinite-loop,
+  -bugprone-integer-division,
+  -bugprone-macro-parentheses,
+  -bugprone-narrowing-conversions,
+  -bugprone-parent-virtual-call,
+  -bugprone-reserved-identifier,
+  -bugprone-signed-char-misuse"
 
 WarningsAsErrors: "*"
 

.devcontainer/core-devel/devcontainer.json

@@ -0,0 +1,22 @@
+{
+  "name": "autoware:core-devel",
+  "build": {
+    "dockerfile": "../Dockerfile",
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:core-devel" }
+  },
+  "remoteUser": "autoware",
+  "runArgs": [
+    "--cap-add=SYS_PTRACE",
+    "--security-opt",
+    "seccomp=unconfined",
+    "--net=host",
+    "--volume=/etc/localtime:/etc/localtime:ro"
+  ],
+  "customizations": {
+    "vscode": {
+      "settings.json": {
+        "terminal.integrated.profiles.linux": { "bash": { "path": "/bin/bash" } }
+      }
+    }
+  }
+}

.github/CODEOWNERS

@@ -1,4 +1,4 @@
-* [email protected] mfc@leodrive.ai
+* [email protected] mfc@autoware.org
 
 .devcontainer/** [email protected] [email protected]
 .github/** [email protected] [email protected]

.github/actions/combine-multi-arch-images/action.yaml

@@ -67,7 +67,7 @@ runs:
         ALL_TAGS: ${{ steps.get-all-tags.outputs.tags }}
       shell: bash
 
-    - name: Create Docker manifest
+    - name: Create Docker manifest and delete -amd64 and -arm64 tags
       run: |
         for base_tag in $BASE_TAGS; do
           echo -e "\nbase_tag: $base_tag"
@@ -82,14 +82,14 @@ runs:
             amd64_image="${{ steps.set-image-name.outputs.image-name }}:$amd64_tag"
           else
             echo "No amd64 tag found for '$base_tag'."
-            amd64_image=""
+            continue
           fi
 
           if [ "$arm64_tag" != "" ]; then
             arm64_image="${{ steps.set-image-name.outputs.image-name }}:$arm64_tag"
           else
             echo "No arm64 tag found for '$base_tag'."
-            arm64_image=""
+            continue
           fi
 
           echo "amd64_image: $amd64_image"
@@ -100,6 +100,16 @@ runs:
             $arm64_image; then
 
             docker manifest push ${{ steps.set-image-name.outputs.image-name }}:$base_tag
+
+            # Delete amd64_image and arm64_image
+            curl -X DELETE \
+              -H "Authorization: Bearer ${{ github.token }}" \
+              -H "Accept: application/vnd.github.v3+json" \
+              https://api.github.com/orgs/${{ github.repository_owner }}/packages/container/${{ inputs.package-name }}/versions/$amd64_tag
+            curl -X DELETE \
+              -H "Authorization: Bearer ${{ github.token }}" \
+              -H "Accept: application/vnd.github.v3+json" \
+              https://api.github.com/orgs/${{ github.repository_owner }}/packages/container/${{ inputs.package-name }}/versions/$arm64_tag
           fi
         done
       env:

.github/actions/docker-build-and-push-cuda/action.yaml

@@ -81,6 +81,7 @@ runs:
         tags: |
           type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
           type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-sensing-perception-devel-cuda-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
         flavor: |
           latest=false
@@ -93,6 +94,7 @@ runs:
         tags: |
           type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
           type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-sensing-perception-cuda-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-cuda
         flavor: |
           latest=false
@@ -105,6 +107,7 @@ runs:
         tags: |
           type=raw,value=universe-devel-cuda-${{ inputs.platform }}
           type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-devel-cuda-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-devel-cuda
         flavor: |
           latest=false
@@ -117,9 +120,10 @@ runs:
         tags: |
           type=raw,value=universe-cuda-${{ inputs.platform }}
           type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-cuda-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-cuda
         flavor: |
-          latest=auto
+          latest=false
 
     - name: Build and Push to Docker Hub
       uses: docker/bake-action@v5

.github/actions/docker-build-and-push/action.yaml

@@ -81,6 +81,7 @@ runs:
         tags: |
           type=raw,value=core-devel-${{ inputs.platform }}
           type=raw,value=core-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=core-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
@@ -93,6 +94,7 @@ runs:
         tags: |
           type=raw,value=universe-sensing-perception-devel-${{ inputs.platform }}
           type=raw,value=universe-sensing-perception-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-sensing-perception-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
@@ -105,6 +107,7 @@ runs:
         tags: |
           type=raw,value=universe-sensing-perception-${{ inputs.platform }}
           type=raw,value=universe-sensing-perception-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-sensing-perception-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
@@ -117,6 +120,7 @@ runs:
         tags: |
           type=raw,value=universe-localization-mapping-devel-${{ inputs.platform }}
           type=raw,value=universe-localization-mapping-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-localization-mapping-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping-devel
         flavor: |
           latest=false
@@ -129,6 +133,7 @@ runs:
         tags: |
           type=raw,value=universe-localization-mapping-${{ inputs.platform }}
           type=raw,value=universe-localization-mapping-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-localization-mapping-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping
         flavor: |
           latest=false
@@ -141,6 +146,7 @@ runs:
         tags: |
           type=raw,value=universe-planning-control-devel-${{ inputs.platform }}
           type=raw,value=universe-planning-control-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-planning-control-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control-devel
         flavor: |
           latest=false
@@ -153,6 +159,7 @@ runs:
         tags: |
           type=raw,value=universe-planning-control-${{ inputs.platform }}
           type=raw,value=universe-planning-control-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-planning-control-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control
         flavor: |
           latest=false
@@ -165,6 +172,7 @@ runs:
         tags: |
           type=raw,value=universe-vehicle-system-devel-${{ inputs.platform }}
           type=raw,value=universe-vehicle-system-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-vehicle-system-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system-devel
         flavor: |
           latest=false
@@ -177,6 +185,7 @@ runs:
         tags: |
           type=raw,value=universe-vehicle-system-${{ inputs.platform }}
           type=raw,value=universe-vehicle-system-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-vehicle-system-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-vehicle-system
         flavor: |
           latest=false
@@ -189,6 +198,7 @@ runs:
         tags: |
           type=raw,value=universe-devel-${{ inputs.platform }}
           type=raw,value=universe-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-devel-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
@@ -201,6 +211,7 @@ runs:
         tags: |
           type=raw,value=universe-${{ inputs.platform }}
           type=raw,value=universe-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-,suffix=-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto

.github/dependabot.yaml

@@ -6,8 +6,9 @@ version: 2
 updates:
   - package-ecosystem: github-actions
     directory: /
+    # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval
     schedule:
-      interval: daily
+      interval: monthly
     open-pull-requests-limit: 1
     labels:
       - tag:bot

.github/workflows/docker-build-and-push-arm64.yaml

@@ -5,6 +5,7 @@
     branches:
       - main
     tags:
+      - "*.*.*"
   workflow_dispatch:
 
 jobs:
@@ -13,7 +14,7 @@
 
   docker-build-and-push:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -49,6 +50,12 @@
             ansible/**
             docker/**
 
+      - name: Free disk space
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/free-disk-space
+
       - name: Build 'Autoware' without CUDA
         if: ${{ steps.author-check.outputs.author-found == 'true' ||
           steps.changed-files.outputs.any_changed == 'true' ||
@@ -77,7 +84,7 @@
 
   docker-build-and-push-cuda:
     needs: [load-env, docker-build-and-push]
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -100,6 +107,12 @@
             ansible/**
             docker/**
 
+      - name: Free disk space
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/free-disk-space
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||

.github/workflows/docker-build-and-push.yaml

@@ -5,6 +5,7 @@
     branches:
       - main
     tags:
+      - "*.*.*"
   workflow_dispatch:
 
 jobs:
@@ -13,7 +14,7 @@
 
   docker-build-and-push:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -49,6 +50,12 @@
             ansible/**
             docker/**
 
+      - name: Free disk space
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/free-disk-space
+
       - name: Build 'Autoware' without CUDA
         if: ${{ steps.author-check.outputs.author-found == 'true' ||
           steps.changed-files.outputs.any_changed == 'true' ||
@@ -77,7 +84,7 @@
 
   docker-build-and-push-cuda:
     needs: [load-env, docker-build-and-push]
     runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -100,6 +107,12 @@
             ansible/**
             docker/**
 
+      - name: Free disk space
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
+        uses: ./.github/actions/free-disk-space
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||

.github/workflows/pre-commit-autoupdate.yaml

@@ -6,7 +6,7 @@ name: pre-commit-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: 0 0 1 1,4,7,10 * # quarterly
   workflow_dispatch:
 
 jobs:

.github/workflows/pre-commit-optional-autoupdate.yaml

@@ -6,7 +6,7 @@ name: pre-commit-optional-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: 0 0 1 1,4,7,10 * # quarterly
   workflow_dispatch:
 
 jobs:

.github/workflows/update-tool-versions.yaml

@@ -40,7 +40,7 @@ jobs:
 
       - name: Create PR
         id: create-pr
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           token: ${{ steps.generate-token.outputs.token }}
           base: ${{ github.event.repository.default_branch }}

.pre-commit-config-ansible.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/ansible/ansible-lint.git
-    rev: v24.10.0
+    rev: v24.12.2
     hooks:
       - id: ansible-lint
         additional_dependencies:

.pre-commit-config-optional.yaml

@@ -4,7 +4,7 @@
 
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.12.2
+    rev: v3.13.6
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]