fix(tensorrt_yolox): add delay time for gpu task reschedule

.cppcheck_suppressions

@@ -9,7 +9,6 @@ missingInclude
 missingIncludeSystem
 noConstructor
 passedByValue
-redundantInitialization
 // cspell: ignore uninit
 uninitMemberVar
 unknownMacro

.github/workflows/build-and-test-daily.yaml

@@ -7,7 +7,7 @@
 
 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
@@ -39,7 +39,7 @@
 
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
           if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
             build_type_cuda_state=cuda
           fi

.github/workflows/build-and-test-differential.yaml

@@ -21,7 +21,7 @@
   build-and-test-differential:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.runner }}
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -35,6 +35,10 @@
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
+          - container-suffix: -cuda
+            runner: [self-hosted, linux, X64, cpu]
+          - container-suffix: ""
+            runner: ubuntu-latest
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -84,7 +88,7 @@
 
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
           if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
             build_type_cuda_state=cuda
           fi

.github/workflows/build-and-test.yaml

@@ -12,7 +12,7 @@
 
 jobs:
   build-and-test:
-    runs-on: [self-hosted, linux, X64]
+    runs-on: [self-hosted, linux, X64, gpu]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -68,7 +68,7 @@
 
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
           if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
             build_type_cuda_state=cuda
           fi

README.md

@@ -1,5 +1,7 @@
 # Autoware Universe
 
+[![codecov](https://codecov.io/github/autowarefoundation/autoware.universe/graph/badge.svg?token=KQP68YQ65D)](https://codecov.io/github/autowarefoundation/autoware.universe)
+
 ## Welcome to Autoware Universe
 
 Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.

codecov.yaml

@@ -26,3 +26,7 @@ flag_management:
         type: patch
         target: 0% # Make CI always succeed
         threshold: 100% # Make CI always succeed
+
+ignore:
+  - "**/test/*"
+  - "**/test/**/*"

common/.pages

@@ -50,7 +50,7 @@ nav:
     - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
   - 'Node':
     - 'Goal Distance Calculator': common/goal_distance_calculator/Readme
-    - 'Path Distance Calculator': common/path_distance_calculator/Readme
+    - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
     - 'autoware_ad_api_specs': common/autoware_ad_api_specs
     - 'component_interface_specs': common/component_interface_specs

common/autoware_auto_common/test/test_template_utils.cpp

@@ -27,7 +27,7 @@ struct FalseType
 
 struct Foo
 {
-  CorrectType bar(CorrectType, const CorrectType &, CorrectType *) { return CorrectType{}; }
+  static CorrectType bar(CorrectType, const CorrectType &, CorrectType *) { return CorrectType{}; }
 };
 
 template <template <typename> class Expression, typename... Ts>

common/path_distance_calculator/CMakeLists.txt → common/autoware_path_distance_calculator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(path_distance_calculator)
+project(autoware_path_distance_calculator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "PathDistanceCalculator"
+  PLUGIN "autoware::path_distance_calculator::PathDistanceCalculator"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

common/path_distance_calculator/Readme.md → common/autoware_path_distance_calculator/Readme.md

@@ -1,4 +1,4 @@
-# path_distance_calculator
+# autoware_path_distance_calculator
 
 ## Purpose
 

common/path_distance_calculator/launch/path_distance_calculator.launch.xml → common/autoware_path_distance_calculator/launch/path_distance_calculator.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
   <arg name="distance" default="~/distance"/>
-  <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
+  <node pkg="autoware_path_distance_calculator" exec="autoware_path_distance_calculator_node" name="path_distance_calculator">
     <remap from="~/input/path" to="$(var path)"/>
     <remap from="~/output/distance" to="$(var distance)"/>
   </node>

common/path_distance_calculator/package.xml → common/autoware_path_distance_calculator/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>path_distance_calculator</name>
+  <name>autoware_path_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The path_distance_calculator package</description>
+  <description>The autoware_path_distance_calculator package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
 

common/path_distance_calculator/src/path_distance_calculator.cpp → common/autoware_path_distance_calculator/src/path_distance_calculator.cpp

@@ -22,6 +22,8 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::path_distance_calculator
+{
 PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & options)
 : Node("path_distance_calculator", options), self_pose_listener_(this)
 {
@@ -54,6 +56,6 @@ PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & optio
     pub_dist_->publish(msg);
   });
 }
-
+}  // namespace autoware::path_distance_calculator
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(PathDistanceCalculator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::path_distance_calculator::PathDistanceCalculator)

common/path_distance_calculator/src/path_distance_calculator.hpp → common/autoware_path_distance_calculator/src/path_distance_calculator.hpp

@@ -22,6 +22,9 @@
 #include <autoware_planning_msgs/msg/path.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
+namespace autoware::path_distance_calculator
+{
+
 class PathDistanceCalculator : public rclcpp::Node
 {
 public:
@@ -35,4 +38,6 @@ class PathDistanceCalculator : public rclcpp::Node
   autoware::universe_utils::SelfPoseListener self_pose_listener_;
 };
 
+}  // namespace autoware::path_distance_calculator
+
 #endif  // PATH_DISTANCE_CALCULATOR_HPP_

common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

@@ -104,7 +104,7 @@ get_2d_shape_marker_ptr(
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba);
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba);
 
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_existence_probability_marker_ptr(

common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -459,7 +459,7 @@ visualization_msgs::msg::Marker::SharedPtr get_uuid_marker_ptr(
 
 visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba)
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;

common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp

@@ -0,0 +1,165 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_
+
+#include "autoware/universe_utils/ros/transform_listener.hpp"
+
+#include <eigen3/Eigen/Core>
+#include <pcl_ros/transforms.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+
+#include <pcl_conversions/pcl_conversions.h>
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <utility>
+
+namespace std
+{
+template <>
+struct hash<std::pair<std::string, std::string>>
+{
+  size_t operator()(const std::pair<std::string, std::string> & p) const
+  {
+    size_t h1 = std::hash<std::string>{}(p.first);
+    size_t h2 = std::hash<std::string>{}(p.second);
+    return h1 ^ (h2 << 1u);
+  }
+};
+}  // namespace std
+
+namespace autoware::universe_utils
+{
+using std::chrono_literals::operator""ms;
+using Key = std::pair<std::string, std::string>;
+struct PairEqual
+{
+  bool operator()(const Key & p1, const Key & p2) const
+  {
+    return p1.first == p2.first && p1.second == p2.second;
+  }
+};
+using TFMap = std::unordered_map<Key, Eigen::Matrix4f, std::hash<Key>, PairEqual>;
+
+class StaticTransformBuffer
+{
+public:
+  StaticTransformBuffer() = default;
+
+  /**
+   * @brief Retrieves a transform between two static frames.
+   *
+   * This function attempts to retrieve a transform between the target frame and the source frame.
+   * If success, the transform matrix is set to the output parameter and the function returns true.
+   * Otherwise, transform matrix is set to identity and the function returns false. Transform
+   * Listener is destroyed after function call.
+   *
+   * @param node A pointer to the ROS node.
+   * @param target_frame The target frame.
+   * @param source_frame The source frame.
+   * @param eigen_transform The output Eigen transform matrix. Is set to identity if the transform
+   * is not found.
+   * @return True if the transform was successfully retrieved, false otherwise.
+   */
+  bool getTransform(
+    rclcpp::Node * node, const std::string & target_frame, const std::string & source_frame,
+    Eigen::Matrix4f & eigen_transform)
+  {
+    auto key = std::make_pair(target_frame, source_frame);
+    auto key_inv = std::make_pair(source_frame, target_frame);
+
+    // Check if the transform is already in the buffer
+    auto it = buffer_.find(key);
+    if (it != buffer_.end()) {
+      eigen_transform = it->second;
+      return true;
+    }
+
+    // Check if the inverse transform is already in the buffer
+    auto it_inv = buffer_.find(key_inv);
+    if (it_inv != buffer_.end()) {
+      eigen_transform = it_inv->second.inverse();
+      buffer_[key] = eigen_transform;
+      return true;
+    }
+
+    // Check if transform is needed
+    if (target_frame == source_frame) {
+      eigen_transform = Eigen::Matrix4f::Identity();
+      buffer_[key] = eigen_transform;
+      return true;
+    }
+
+    // Get the transform from the TF tree
+    auto tf_listener = std::make_unique<autoware::universe_utils::TransformListener>(node);
+    auto tf = tf_listener->getTransform(
+      target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms));
+    RCLCPP_DEBUG(
+      node->get_logger(), "Trying to enqueue %s -> %s transform to static TFs buffer...",
+      target_frame.c_str(), source_frame.c_str());
+    if (tf == nullptr) {
+      eigen_transform = Eigen::Matrix4f::Identity();
+      return false;
+    }
+    pcl_ros::transformAsMatrix(*tf, eigen_transform);
+    buffer_[key] = eigen_transform;
+    return true;
+  }
+
+  /**
+   * Transforms a point cloud from one frame to another.
+   *
+   * @param node A pointer to the ROS node.
+   * @param target_frame The target frame to transform the point cloud to.
+   * @param cloud_in The input point cloud to be transformed.
+   * @param cloud_out The transformed point cloud.
+   * @return True if the transformation is successful, false otherwise.
+   */
+  bool transformPointcloud(
+    rclcpp::Node * node, const std::string & target_frame,
+    const sensor_msgs::msg::PointCloud2 & cloud_in, sensor_msgs::msg::PointCloud2 & cloud_out)
+  {
+    if (
+      pcl::getFieldIndex(cloud_in, "x") == -1 || pcl::getFieldIndex(cloud_in, "y") == -1 ||
+      pcl::getFieldIndex(cloud_in, "z") == -1) {
+      RCLCPP_ERROR(node->get_logger(), "Input pointcloud does not have xyz fields");
+      return false;
+    }
+    if (target_frame == cloud_in.header.frame_id) {
+      cloud_out = cloud_in;
+      return true;
+    }
+    Eigen::Matrix4f eigen_transform;
+    if (!getTransform(node, target_frame, cloud_in.header.frame_id, eigen_transform)) {
+      return false;
+    }
+    pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out);
+    cloud_out.header.frame_id = target_frame;
+    return true;
+  }
+
+private:
+  TFMap buffer_;
+};
+
+}  // namespace autoware::universe_utils
+
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_

common/autoware_universe_utils/package.xml

@@ -24,6 +24,7 @@
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>