Merge branch 'master' into feature/render-omitted-light-bulb

Author: f0reachARR

.github/workflows/BuildAndRun.yaml

@@ -33,7 +33,7 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro: [humble]
-        runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20
+        runs_on: [ubuntu-22.04, ubuntu-22.04-arm]
         cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build.
     steps:
       - name: Suppress warnings
@@ -76,26 +76,32 @@ jobs:
           colcon mixin update default
         shell: bash
 
-      - name: Install sonar-scanner and build-wrapper
-        uses: sonarsource/sonarcloud-github-c-cpp@v3
+      - name: Install Build Wrapper
+        uses: SonarSource/sonarqube-scan-action/[email protected]
+        id: build_wrapper
         env:
           SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
 
       - name: Build with SonarCloud Build Wrapper
+        # Note: `-Wno-error=class-memaccess` is temporary workaround for aarch64 GCC error
+        # This should be removed when Eigen is updated in Ubuntu package repository
+        # See also: https://gitlab.com/libeigen/eigen/-/issues/2326
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          build-wrapper-linux-x86-64 --out-dir src/scenario_simulator_v2/bw-output \
+          ${{ steps.build_wrapper.outputs.build-wrapper-binary }} --out-dir src/scenario_simulator_v2/bw-output \
           colcon build --symlink-install \
           --cmake-args \
             -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \
             -DBUILD_CPP_MOCK_SCENARIOS=ON \
             -DBUILD_TESTING=true \
-            -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' \
+            -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage -Wno-error=class-memaccess' \
             -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' \
             --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test
+        # ARM testing is currently broken
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           source install/local_setup.bash
@@ -104,6 +110,7 @@ jobs:
         shell: bash
 
       - name: generate gcov report for sonarcloud
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         run: gcovr -r src/scenario_simulator_v2 build --sonarqube coverage.xml
 
       - name: Show test result
@@ -115,6 +122,7 @@ jobs:
         shell: bash
 
       - name: Scenario test
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         run: |
           source install/setup.bash
           source install/local_setup.bash
@@ -123,6 +131,7 @@ jobs:
 
       - name: Scenario test (optional)
         id: optional-scenario-test
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         run: |
           source install/setup.bash
           source install/local_setup.bash
@@ -133,7 +142,7 @@ jobs:
         shell: bash
 
       - uses: actions/github-script@v7
-        if: steps.optional-scenario-test.outputs.failure > 0
+        if: steps.optional-scenario-test.outputs.failure > 0 && matrix.runs_on != 'ubuntu-22.04-arm'
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           script: |
@@ -151,26 +160,32 @@ jobs:
 
       - name: Upload Lcov result
         uses: actions/upload-artifact@v4
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         with:
           name: lcov-${{ matrix.cmake_build_type }}
           path: lcov
           retention-days: 1
 
       - name: Upload Gcov result
         uses: actions/upload-artifact@v4
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         with:
           name: coverage${{ matrix.cmake_build_type }}.xml
           path: coverage.xml
           retention-days: 1
 
-      - name: Run SonarCloud scan
+      - name: SonarQube Scan
+        uses: SonarSource/[email protected]
+        # In ARM build, SonarQube result should be same as x86 build because no test runs
+        if: matrix.runs_on != 'ubuntu-22.04-arm'
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
-          SONAR_HOST_URL: https://sonarcloud.io/
-        working-directory: src/scenario_simulator_v2/
-        run: sonar-scanner --define sonar.cfamily.compile-commands="bw-output/compile_commands.json"
-
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
+        with:
+          args: >
+            --define sonar.cfamily.compile-commands="src/scenario_simulator_v2/bw-output/compile_commands.json"
+          projectBaseDir: src/scenario_simulator_v2/
 #      - name: Basic test
 #        run: |
 #          source install/setup.bash

.github/workflows/DocumentationLinkCheck.yaml

@@ -6,7 +6,8 @@ on:
   schedule:
     - cron: 0 0 * * *
   pull_request:
-
+    paths:
+      - "**/*.md"
 jobs:
   linkChecker:
     runs-on: ubuntu-latest
@@ -18,6 +19,6 @@ jobs:
         uses: lycheeverse/[email protected]
         with:
           fail: true
-          args: "--verbose --no-progress './**/*.md' './**/*.html' --timeout 1000 --max-concurrency 32 -T 1 --retry-wait-time 10"
+          args: "--verbose --no-progress './**/*.md' './**/*.html' --timeout 1000 --max-concurrency 1 -T 1 --retry-wait-time 10"
         env:
           GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}

common/agnocast_wrapper/CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package agnocast_wrapper
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.3.7 (2025-05-15)
+-------------------
+* Merge branch 'master' into fix/mics-objects-model3d
+* Merge branch 'master' into fix/mics-objects-model3d
+* Contributors: Tatsuya Yamasaki
+
+16.3.6 (2025-05-14)
+-------------------
+* Merge branch 'master' into feature/arm64-buildtest
+* Merge branch 'master' into feature/arm64-buildtest
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
+16.3.5 (2025-05-12)
+-------------------
+* Merge branch 'master' into fix/missing-rviz-config-and-npc-start
+* Contributors: SzymonParapura
+
+16.3.4 (2025-05-12)
+-------------------
+
 16.3.3 (2025-05-02)
 -------------------
 

common/agnocast_wrapper/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>agnocast_wrapper</name>
-  <version>16.3.3</version>
+  <version>16.3.7</version>
   <description>A wrapper package for agnocast</description>
   <maintainer email="[email protected]">Mateusz Palczuk</maintainer>
   <license>Apache License 2.0</license>

common/get_parameter/CHANGELOG.rst

@@ -2,6 +2,29 @@
 Changelog for package get_parameter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.3.7 (2025-05-15)
+-------------------
+* Merge branch 'master' into fix/mics-objects-model3d
+* Merge branch 'master' into fix/mics-objects-model3d
+* Contributors: Tatsuya Yamasaki
+
+16.3.6 (2025-05-14)
+-------------------
+* Merge branch 'master' into feature/arm64-buildtest
+* Merge branch 'master' into feature/arm64-buildtest
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
+16.3.5 (2025-05-12)
+-------------------
+* Merge pull request `#1588 <https://github.com/tier4/scenario_simulator_v2/issues/1588>`_ from tier4/fix/missing-rviz-config-and-npc-start
+* Merge branch 'master' into fix/missing-rviz-config-and-npc-start
+* Merge branch 'fix/duplicated-parameter-nodes' into fix/missing-rviz-config-and-npc-start
+* Force at most one parameter node for each process and guarantee unique name of this node by adding pid to the name
+* Contributors: Kotaro Yoshimoto, Mateusz Palczuk, SzymonParapura
+
+16.3.4 (2025-05-12)
+-------------------
+
 16.3.3 (2025-05-02)
 -------------------
 

common/get_parameter/include/get_parameter/get_parameter.hpp

@@ -15,10 +15,26 @@
 #ifndef COMMON__GET_PARAMETER_HPP_
 #define COMMON__GET_PARAMETER_HPP_
 
+#include <unistd.h>
+
 #include <rclcpp/rclcpp.hpp>
 
 namespace common
 {
+/**
+ * @brief Get the Node object for parameter obtaining.
+ * This provides a one node for parameter obtaining for the whole executable, as opposed to template
+ * function that creates a new node for each type of parameter. To guarantee the node name is unique
+ * (Autoware in some versions requires this to run) we append the process id.
+ */
+inline auto getParameterNode() -> rclcpp::Node &
+{
+  static rclcpp::Node node{
+    [](std::string name_base) { return name_base + "_pid" + std::to_string(getpid()); }(__func__),
+    "simulation"};
+  return node;
+}
+
 template <typename T>
 auto getParameter(
   const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node,
@@ -33,8 +49,7 @@ auto getParameter(
 template <typename T>
 auto getParameter(const std::string & name, T value = {})
 {
-  static auto node = rclcpp::Node(__func__, "simulation");
-  return getParameter(node.get_node_parameters_interface(), name, value);
+  return getParameter(getParameterNode().get_node_parameters_interface(), name, value);
 }
 }  // namespace common
 

common/get_parameter/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>get_parameter</name>
-  <version>16.3.3</version>
+  <version>16.3.7</version>
   <description>Thin wrapper for rclcpp::Node::get_parameter</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

common/math/arithmetic/CHANGELOG.rst

@@ -21,6 +21,26 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+16.3.7 (2025-05-15)
+-------------------
+* Merge branch 'master' into fix/mics-objects-model3d
+* Merge branch 'master' into fix/mics-objects-model3d
+* Contributors: Tatsuya Yamasaki
+
+16.3.6 (2025-05-14)
+-------------------
+* Merge branch 'master' into feature/arm64-buildtest
+* Merge branch 'master' into feature/arm64-buildtest
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
+16.3.5 (2025-05-12)
+-------------------
+* Merge branch 'master' into fix/missing-rviz-config-and-npc-start
+* Contributors: SzymonParapura
+
+16.3.4 (2025-05-12)
+-------------------
+
 16.3.3 (2025-05-02)
 -------------------
 

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>16.3.3</version>
+  <version>16.3.7</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

common/math/geometry/CHANGELOG.rst

@@ -21,6 +21,26 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+16.3.7 (2025-05-15)
+-------------------
+* Merge branch 'master' into fix/mics-objects-model3d
+* Merge branch 'master' into fix/mics-objects-model3d
+* Contributors: Tatsuya Yamasaki
+
+16.3.6 (2025-05-14)
+-------------------
+* Merge branch 'master' into feature/arm64-buildtest
+* Merge branch 'master' into feature/arm64-buildtest
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
+16.3.5 (2025-05-12)
+-------------------
+* Merge branch 'master' into fix/missing-rviz-config-and-npc-start
+* Contributors: SzymonParapura
+
+16.3.4 (2025-05-12)
+-------------------
+
 16.3.3 (2025-05-02)
 -------------------