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Merge branch 'master' into feature/render-omitted-light-bulb
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‎.github/workflows/Release.yaml‎

Lines changed: 8 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,7 @@ jobs:
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new_version: ${{ steps.new_version.outputs.new_version }}
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steps:
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- name: Restore branch
36+
if: github.event.pull_request.merged == true
3637
uses: levonet/action-restore-branch@master
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3839
- name: Install bloom
@@ -42,6 +43,7 @@ jobs:
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uses: actions/checkout@v4
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with:
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ref: master
46+
repository: ${{ github.event.pull_request.base.repo.full_name }}
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fetch-depth: 0
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fetch-tags: true
4749

@@ -50,16 +52,19 @@ jobs:
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git config --global user.name "Release Bot"
5153
git config --global user.email "[email protected]"
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git config --global --add safe.directory /__w/scenario_simulator_v2/scenario_simulator_v2
53-
git config --global credential.helper ${{ secrets.BLOOM_GITHUB_TOKEN }}
5455
git config pull.rebase false
5556
57+
- name: Setup git credential
58+
if: github.event.pull_request.merged == true
59+
run: git config --global credential.helper ${{ secrets.BLOOM_GITHUB_TOKEN }}
60+
5661
- name: Get old version
5762
id: old_version
5863
run: |
5964
echo "old_version=$(catkin_package_version)" >> $GITHUB_OUTPUT
6065
61-
- name: Merge branch
62-
run: git pull origin ${{ github.head_ref }}
66+
- name: Pull head branch
67+
run: git pull ${{ github.event.pull_request.head.repo.clone_url }} ${{ github.head_ref }}
6368

6469
- name: Bump patch version
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if: (contains(github.event.pull_request.labels.*.name, 'bump patch'))

‎common/agnocast_wrapper/CHANGELOG.rst‎

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@@ -2,6 +2,51 @@
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Changelog for package agnocast_wrapper
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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16.4.2 (2025-05-23)
6+
-------------------
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8+
16.4.4 (2025-05-28)
9+
-------------------
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* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
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* Merge branch 'master' into feature/delay_curventure_calculation
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* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
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* Merge remote-tracking branch 'origin/master' into feature/speed_up
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* Contributors: Masaya Kataoka
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16+
16.4.3 (2025-05-27)
17+
-------------------
18+
* Merge branch 'master' into refactor/behavior-tree-2
19+
* Bump version of scenario_simulator_v2 from version version 16.4.1 to version 16.4.2
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* Merge branch 'master' into refactor/behavior-tree-2
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* Contributors: Kotaro Yoshimoto, Taiga
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23+
16.4.1 (2025-05-23)
24+
-------------------
25+
* Merge branch 'master' into refactor/behavior-tree-1
26+
* Merge branch 'master' into refactor/behavior-tree-1
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* Contributors: Taiga
28+
29+
16.4.0 (2025-05-22)
30+
-------------------
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Contributors: Kotaro Yoshimoto
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16.3.11 (2025-05-21)
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--------------------
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* Merge branch 'master' into refactor/lanelet_matching
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* Contributors: Masaya Kataoka
43+
44+
16.3.10 (2025-05-20)
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--------------------
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* Merge branch 'master' into fix/agnocastpreload
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* Merge branch 'master' into dependabot/pip/setuptools-78.1.1
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* Contributors: Kotaro Yoshimoto, Masaya Kataoka
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16.3.9 (2025-05-20)
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-------------------
752

‎common/agnocast_wrapper/package.xml‎

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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
44
<name>agnocast_wrapper</name>
5-
<version>16.3.9</version>
5+
<version>16.4.4</version>
66
<description>A wrapper package for agnocast</description>
77
<maintainer email="[email protected]">Mateusz Palczuk</maintainer>
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<license>Apache License 2.0</license>

‎common/get_parameter/CHANGELOG.rst‎

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@@ -2,6 +2,55 @@
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Changelog for package get_parameter
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
16.4.2 (2025-05-23)
6+
-------------------
7+
8+
16.4.4 (2025-05-28)
9+
-------------------
10+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
11+
* Merge branch 'master' into feature/delay_curventure_calculation
12+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
13+
* Merge remote-tracking branch 'origin/master' into feature/speed_up
14+
* Contributors: Masaya Kataoka
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16+
16.4.3 (2025-05-27)
17+
-------------------
18+
* Merge branch 'master' into refactor/behavior-tree-2
19+
* Bump version of scenario_simulator_v2 from version version 16.4.1 to version 16.4.2
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* Merge branch 'master' into refactor/behavior-tree-2
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* Contributors: Kotaro Yoshimoto, Taiga
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16.4.1 (2025-05-23)
24+
-------------------
25+
* Merge branch 'master' into refactor/behavior-tree-1
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* Merge branch 'master' into refactor/behavior-tree-1
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* Contributors: Taiga
28+
29+
16.4.0 (2025-05-22)
30+
-------------------
31+
* Merge branch 'master' into feature/change_allow_goal_modification
32+
* Merge branch 'master' into feature/change_allow_goal_modification
33+
* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
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* Merge branch 'master' into feature/change_allow_goal_modification
36+
* Merge branch 'master' into feature/change_allow_goal_modification
37+
* Contributors: Kotaro Yoshimoto
38+
39+
16.3.11 (2025-05-21)
40+
--------------------
41+
* Merge branch 'master' into refactor/lanelet_matching
42+
* Merge branch 'master' into refactor/lanelet_matching
43+
* Merge branch 'master' into refactor/lanelet_matching
44+
* Merge branch 'master' into refactor/lanelet_matching
45+
* Merge commit '2be47bbd1a1a69ba584d2a37b11b3140e40f5f3d' into refactor/lanelet_matching
46+
* Contributors: Koki Suzuki, Masaya Kataoka, koki suzuki
47+
48+
16.3.10 (2025-05-20)
49+
--------------------
50+
* Merge branch 'master' into fix/agnocastpreload
51+
* Merge branch 'master' into dependabot/pip/setuptools-78.1.1
52+
* Contributors: Kotaro Yoshimoto, Masaya Kataoka
53+
554
16.3.9 (2025-05-20)
655
-------------------
756

‎common/get_parameter/package.xml‎

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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>get_parameter</name>
5-
<version>16.3.9</version>
5+
<version>16.4.4</version>
66
<description>Thin wrapper for rclcpp::Node::get_parameter</description>
77
<maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
88
<license>Apache License 2.0</license>

‎common/math/arithmetic/CHANGELOG.rst‎

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@@ -21,6 +21,55 @@ Changelog for package arithmetic
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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
2323

24+
16.4.2 (2025-05-23)
25+
-------------------
26+
27+
16.4.4 (2025-05-28)
28+
-------------------
29+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
30+
* Merge branch 'master' into feature/delay_curventure_calculation
31+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
32+
* Merge remote-tracking branch 'origin/master' into feature/speed_up
33+
* Contributors: Masaya Kataoka
34+
35+
16.4.3 (2025-05-27)
36+
-------------------
37+
* Merge branch 'master' into refactor/behavior-tree-2
38+
* Bump version of scenario_simulator_v2 from version version 16.4.1 to version 16.4.2
39+
* Merge branch 'master' into refactor/behavior-tree-2
40+
* Contributors: Kotaro Yoshimoto, Taiga
41+
42+
16.4.1 (2025-05-23)
43+
-------------------
44+
* Merge branch 'master' into refactor/behavior-tree-1
45+
* Merge branch 'master' into refactor/behavior-tree-1
46+
* Contributors: Taiga
47+
48+
16.4.0 (2025-05-22)
49+
-------------------
50+
* Merge branch 'master' into feature/change_allow_goal_modification
51+
* Merge branch 'master' into feature/change_allow_goal_modification
52+
* Merge branch 'master' into feature/change_allow_goal_modification
53+
* Merge branch 'master' into feature/change_allow_goal_modification
54+
* Merge branch 'master' into feature/change_allow_goal_modification
55+
* Merge branch 'master' into feature/change_allow_goal_modification
56+
* Contributors: Kotaro Yoshimoto
57+
58+
16.3.11 (2025-05-21)
59+
--------------------
60+
* Merge branch 'master' into refactor/lanelet_matching
61+
* Merge branch 'master' into refactor/lanelet_matching
62+
* Merge branch 'master' into refactor/lanelet_matching
63+
* Merge branch 'master' into refactor/lanelet_matching
64+
* Merge commit '2be47bbd1a1a69ba584d2a37b11b3140e40f5f3d' into refactor/lanelet_matching
65+
* Contributors: Koki Suzuki, Masaya Kataoka, koki suzuki
66+
67+
16.3.10 (2025-05-20)
68+
--------------------
69+
* Merge branch 'master' into fix/agnocastpreload
70+
* Merge branch 'master' into dependabot/pip/setuptools-78.1.1
71+
* Contributors: Kotaro Yoshimoto, Masaya Kataoka
72+
2473
16.3.9 (2025-05-20)
2574
-------------------
2675

‎common/math/arithmetic/package.xml‎

Lines changed: 1 addition & 1 deletion
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@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>arithmetic</name>
5-
<version>16.3.9</version>
5+
<version>16.4.4</version>
66
<description>arithmetic library for scenario_simulator_v2</description>
77
<maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
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<license>Apache License 2.0</license>

‎common/math/geometry/CHANGELOG.rst‎

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@@ -21,6 +21,69 @@ Changelog for package geometry
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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
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24+
16.4.2 (2025-05-23)
25+
-------------------
26+
27+
16.4.4 (2025-05-28)
28+
-------------------
29+
* Merge pull request `#1609 <https://github.com/tier4/scenario_simulator_v2/issues/1609>`_ from tier4/feature/delay_curventure_calculation
30+
Feature/delay curventure calculation
31+
* check resolution is not zero
32+
* use const &
33+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
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* Merge branch 'master' into feature/delay_curventure_calculation
35+
* apply reformat
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* make isApproximatelyEqualTo function to public
37+
* Merge remote-tracking branch 'origin/master' into feature/delay_curventure_calculation
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* fix test case
39+
* fix typo
40+
* check waypoint duplication
41+
* delay curventure calculation
42+
* delay curventure calculation
43+
* Merge remote-tracking branch 'origin/master' into feature/speed_up
44+
* enable calculate route before requestFollowTrajectory
45+
* enable construct polyline trajectory from spline
46+
* Speed up by changing to logic that does not use exceptions
47+
* Contributors: Masaya Kataoka, Taiga
48+
49+
16.4.3 (2025-05-27)
50+
-------------------
51+
* Merge branch 'master' into refactor/behavior-tree-2
52+
* Bump version of scenario_simulator_v2 from version version 16.4.1 to version 16.4.2
53+
* Merge branch 'master' into refactor/behavior-tree-2
54+
* Contributors: Kotaro Yoshimoto, Taiga
55+
56+
16.4.1 (2025-05-23)
57+
-------------------
58+
* Merge branch 'master' into refactor/behavior-tree-1
59+
* Merge branch 'master' into refactor/behavior-tree-1
60+
* Contributors: Taiga
61+
62+
16.4.0 (2025-05-22)
63+
-------------------
64+
* Merge branch 'master' into feature/change_allow_goal_modification
65+
* Merge branch 'master' into feature/change_allow_goal_modification
66+
* Merge branch 'master' into feature/change_allow_goal_modification
67+
* Merge branch 'master' into feature/change_allow_goal_modification
68+
* Merge branch 'master' into feature/change_allow_goal_modification
69+
* Merge branch 'master' into feature/change_allow_goal_modification
70+
* Contributors: Kotaro Yoshimoto
71+
72+
16.3.11 (2025-05-21)
73+
--------------------
74+
* Merge branch 'master' into refactor/lanelet_matching
75+
* Merge branch 'master' into refactor/lanelet_matching
76+
* Merge branch 'master' into refactor/lanelet_matching
77+
* Merge branch 'master' into refactor/lanelet_matching
78+
* Merge commit '2be47bbd1a1a69ba584d2a37b11b3140e40f5f3d' into refactor/lanelet_matching
79+
* Contributors: Koki Suzuki, Masaya Kataoka, koki suzuki
80+
81+
16.3.10 (2025-05-20)
82+
--------------------
83+
* Merge branch 'master' into fix/agnocastpreload
84+
* Merge branch 'master' into dependabot/pip/setuptools-78.1.1
85+
* Contributors: Kotaro Yoshimoto, Masaya Kataoka
86+
2487
16.3.9 (2025-05-20)
2588
-------------------
2689

‎common/math/geometry/include/geometry/solver/polynomial_solver.hpp‎

Lines changed: 9 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -101,6 +101,15 @@ class PolynomialSolver
101101
*/
102102
constexpr static double tolerance = 1e-7;
103103

104+
/**
105+
* @brief check the value0 and value1 is equal or not with considering tolerance.
106+
* @param value0 the value you want to compare
107+
* @param value1 the value you want to compared
108+
* @return true value0 and value1 are equal
109+
* @return false value0 and value1 are not equal
110+
*/
111+
auto isApproximatelyEqualTo(const double value0, const double value1) const -> bool;
112+
104113
private:
105114
/**
106115
* @brief solve cubic equation x^3 + a*x^2 + b*x + c = 0
@@ -119,14 +128,6 @@ class PolynomialSolver
119128
auto filterByRange(
120129
const std::vector<double> & values, const double min_value, const double max_value) const
121130
-> std::vector<double>;
122-
/**
123-
* @brief check the value0 and value1 is equal or not with considering tolerance.
124-
* @param value0 the value you want to compare
125-
* @param value1 the value you want to compared
126-
* @return true value0 and value1 are equal
127-
* @return false value0 and value1 are not equal
128-
*/
129-
auto isApproximatelyEqualTo(const double value0, const double value1) const -> bool;
130131
};
131132
} // namespace geometry
132133
} // namespace math

‎common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp‎

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -19,8 +19,10 @@
1919
#include <geometry/spline/catmull_rom_spline_interface.hpp>
2020
#include <geometry/spline/hermite_curve.hpp>
2121
#include <geometry_msgs/msg/point.hpp>
22+
#include <memory>
2223
#include <optional>
2324
#include <string>
25+
#include <traffic_simulator_msgs/msg/polyline_trajectory.hpp>
2426
#include <utility>
2527
#include <vector>
2628

@@ -33,6 +35,9 @@ class CatmullRomSpline : public CatmullRomSplineInterface
3335
public:
3436
CatmullRomSpline() = default;
3537
explicit CatmullRomSpline(const std::vector<geometry_msgs::msg::Point> & control_points);
38+
explicit CatmullRomSpline(
39+
const geometry_msgs::msg::Point & start_point,
40+
const std::shared_ptr<traffic_simulator_msgs::msg::PolylineTrajectory> & trajectory);
3641
auto getLength() const -> double override { return total_length_; }
3742
auto getMaximum2DCurvature() const -> double;
3843
auto getPoint(const double s) const -> geometry_msgs::msg::Point;
@@ -43,6 +48,8 @@ class CatmullRomSpline : public CatmullRomSplineInterface
4348
auto getTrajectory(
4449
const double start_s, const double end_s, const double resolution,
4550
const double offset = 0.0) const -> std::vector<geometry_msgs::msg::Point>;
51+
auto getTrajectoryPoses(const double start_s, const double end_s, const double resolution) const
52+
-> std::vector<geometry_msgs::msg::Pose>;
4653
auto getSValue(const geometry_msgs::msg::Pose & pose, double threshold_distance = 3.0) const
4754
-> std::optional<double>;
4855
auto getSquaredDistanceIn2D(const geometry_msgs::msg::Point & point, const double s) const
@@ -78,7 +85,8 @@ class CatmullRomSpline : public CatmullRomSplineInterface
7885
std::vector<LineSegment> line_segments_;
7986
std::vector<HermiteCurve> curves_;
8087
std::vector<double> length_list_;
81-
std::vector<double> maximum_2d_curvatures_;
88+
/// @note Since curvature calculation requires a large computational cost, it is inefficient to calculate it in the member initializer list and must be calculated when the getMaximum2DCurvature function is first called.
89+
mutable std::vector<double> maximum_2d_curvatures_;
8290
double total_length_;
8391
};
8492
} // namespace geometry

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