Merge branch 'tier4/main' into not-sync-github-release

.clang-format

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
 Language: Cpp
 BasedOnStyle: Google

.clang-tidy-ignore

@@ -0,0 +1 @@
+*/examples/*

.cspell.json

@@ -4,5 +4,5 @@
     "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "fromarray", "soblin"]
+  "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54", "libtensorrt"]
 }

.github/ISSUE_TEMPLATE/bug.yaml

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Bug
 description: Report a bug
 body:

.github/ISSUE_TEMPLATE/config.yml

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 blank_issues_enabled: false
 contact_links:
   - name: Question

.github/ISSUE_TEMPLATE/task.yaml

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Task
 description: Plan a task
 body:

.github/dependabot.yaml

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 version: 2
 updates:
   - package-ecosystem: github-actions

.github/labeler.yaml

@@ -42,5 +42,3 @@
 "tag:require-cuda-build-and-test":
   - perception/**/*
   - sensing/**/*
-  - common/cuda_utils/**/*
-  - common/tensorrt_common/**/*

.github/stale.yml

@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/probot/stale#usage
 
 # Number of days of inactivity before an Issue or Pull Request with the stale label is closed

.github/sync-files.yaml

@@ -1,54 +1,47 @@
-- repository: autowarefoundation/autoware
+- repository: autowarefoundation/sync-file-templates
+  source-dir: sources
   files:
-    - source: CODE_OF_CONDUCT.md
-    - source: CONTRIBUTING.md
-    - source: DISCLAIMER.md
-    - source: LICENSE
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
     - source: .github/dependabot.yaml
+    - source: .github/pull_request_template_complex.md
+      dest: .github/pull_request_template.md
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml
+    - source: .github/workflows/check-build-depends.yaml
+    - source: .github/workflows/clang-tidy-pr-comments.yaml
+    - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
+    - source: .github/workflows/comment-on-pr.yaml
+    - source: .github/workflows/delete-closed-pr-docs.yaml
+    - source: .github/workflows/deploy-docs.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/pre-commit-optional-autoupdate.yaml
+    - source: .github/workflows/pre-commit-autoupdate.yaml
     - source: .github/workflows/semantic-pull-request.yaml
     - source: .github/workflows/spell-check-differential.yaml
       pre-commands: |
         sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
-    - source: .github/workflows/spell-check-differential.yaml
-      dest: .github/workflows/spell-check-daily.yaml
+    - source: .github/workflows/spell-check-daily.yaml
       pre-commands: |
-        sd "spell-check-differential" "spell-check-daily" {source}
-        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n          incremental-files-only: false\n" {source}
-        sd "on:\n  pull_request:\n" "on:\n  schedule:\n    - cron: 0 0 * * *\n  workflow_dispatch:\n" {source}
+        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
     - source: .github/workflows/sync-files.yaml
+    - source: .github/workflows/update-codeowners-from-packages.yaml
+    - source: docs/assets/js/mathjax.js
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
+    - source: .pre-commit-config.yaml
     - source: .prettierignore
     - source: .prettierrc.yaml
     - source: .yamllint.yaml
+    - source: CODE_OF_CONDUCT.md
+    - source: CONTRIBUTING.md
     - source: CPPLINT.cfg
-    - source: setup.cfg
-
-- repository: autowarefoundation/autoware_common
-  files:
-    - source: .github/workflows/clang-tidy-differential.yaml
-      pre-commands: |
-        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source}
-    - source: .github/workflows/check-build-depends.yaml
-    - source: .github/workflows/clang-tidy-pr-comments.yaml
-    - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
-    - source: .github/workflows/update-codeowners-from-packages.yaml
-    - source: .pre-commit-config.yaml
-    - source: codecov.yaml
-
-- repository: autowarefoundation/autoware-documentation
-  files:
-    - source: .github/workflows/deploy-docs.yaml
-    - source: .github/workflows/delete-closed-pr-docs.yaml
+    - source: DISCLAIMER.md
+    - source: LICENSE
     - source: mkdocs-base.yaml
       dest: mkdocs.yaml
       pre-commands: |
@@ -62,4 +55,4 @@
         "  - macros" \
         "  - macros:
               module_name: mkdocs_macros" {source}
-    - source: docs/assets/js/mathjax.js
+    - source: setup.cfg

.github/workflows/beta-to-tier4-main-sync.yaml

@@ -0,0 +1,34 @@
+name: beta-to-tier4-main-sync
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: Source branch
+        required: true
+        type: string
+
+jobs:
+  sync-beta-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: beta-to-tier4-main-sync
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: ${{ inputs.source_branch }}
+          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
+          pr-labels: |
+            bot
+            sync-beta-branch
+          auto-merge-method: merge

.github/workflows/build-and-test-daily-arm64.yaml

@@ -23,7 +23,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

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

@@ -5,9 +5,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64, gpu]
+    runs-on: [self-hosted, Linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -19,7 +23,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
@@ -30,13 +34,43 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get self packages
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
+
+      - name: Limit ccache size
+        run: |
+          rm -f "${CCACHE_DIR}/ccache.conf"
+          echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
+        shell: bash
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
@@ -56,6 +90,10 @@ jobs:
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test

.github/workflows/build-and-test-differential-arm64.yaml

@@ -33,7 +33,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Set PR fetch depth
@@ -76,7 +76,7 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-          build-pre-command: taskset --cpu-list 0-6
+          build-pre-command: taskset --cpu-list 0-5
 
       - name: Test
         id: test