Merge branch 'main' into feat/adopt-cie-trajectory-follower

Author: TetsuKawa

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

@@ -48,7 +48,7 @@ jobs:
     uses: ./.github/workflows/build-and-test-reusable.yaml
     with:
       rosdistro: ${{ matrix.rosdistro }}
-      container: ${{ matrix.container-base }}${{ matrix.container-suffix }}
+      container: ${{ matrix.container-base }}
       container-suffix: ${{ matrix.container-suffix }}
       runner: ${{ matrix.runner }}
       build-pre-command: ${{ matrix.build-pre-command }}

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

@@ -15,10 +15,10 @@ jobs:
         include:
           # ROS distribution specific configurations
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
 
           - rosdistro: jazzy
-            container: ghcr.io/autowarefoundation/autoware:universe-devel-jazzy-amd64-cuda
+            container: ghcr.io/autowarefoundation/autoware:universe-devel-jazzy-amd64
 
     uses: ./.github/workflows/build-and-test-reusable.yaml
     with:

perception/autoware_detected_object_feature_remover/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_detected_object_feature_remover)
 
 find_package(autoware_cmake REQUIRED)
+find_package(autoware_agnocast_wrapper REQUIRED)
 autoware_package()
 
 find_package(PCL REQUIRED COMPONENTS common)
@@ -17,16 +18,24 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/detected_object_feature_remover_node.cpp
 )
 
+target_include_directories(${PROJECT_NAME} PRIVATE
+  ${autoware_agnocast_wrapper_INCLUDE_DIRS}
+)
+
 ament_target_dependencies(${PROJECT_NAME}
   ${DETECTED_OBJECT_FEATURE_REMOVER_DEPENDENCIES}
+  autoware_agnocast_wrapper
 )
 
-rclcpp_components_register_node(${PROJECT_NAME}
+autoware_agnocast_wrapper_setup(${PROJECT_NAME})
+
+autoware_agnocast_wrapper_register_node(${PROJECT_NAME}
   PLUGIN "autoware::detected_object_feature_remover::DetectedObjectFeatureRemover"
   EXECUTABLE detected_object_feature_remover_node
+  AGNOCAST_EXECUTOR SingleThreadedAgnocastExecutor
 )
 
-if(BUILD_TESTING)
+if(BUILD_TESTING AND (NOT "$ENV{ENABLE_AGNOCAST}" STREQUAL "1"))
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(test_${PROJECT_NAME}
     test/test_detected_object_feature_remover_node.cpp

perception/autoware_detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml

@@ -1,10 +1,13 @@
 <launch>
+  <include file="$(find-pkg-share autoware_agnocast_wrapper)/launch/agnocast_env.launch.xml"/>
+
   <arg name="input"/>
   <arg name="output"/>
   <arg name="node_name" default="detected_object_feature_remover"/>
   <arg name="run_convex_hull_conversion" default="false"/>
 
   <node pkg="autoware_detected_object_feature_remover" exec="detected_object_feature_remover_node" name="$(var node_name)" output="screen">
+    <env name="LD_PRELOAD" value="$(var ld_preload_value)"/>
     <remap from="~/input" to="$(var input)"/>
     <remap from="~/output" to="$(var output)"/>
     <param name="run_convex_hull_conversion" value="$(var run_convex_hull_conversion)"/>

perception/autoware_detected_object_feature_remover/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_agnocast_wrapper</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>geometry_msgs</depend>

perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp

@@ -23,17 +23,21 @@ namespace autoware::detected_object_feature_remover
 DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options)
 : Node("detected_object_feature_remover", node_options)
 {
-  using std::placeholders::_1;
   pub_ = this->create_publisher<DetectedObjects>("~/output", rclcpp::QoS(1));
-  sub_ = this->create_subscription<DetectedObjectsWithFeature>(
-    "~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1));
+  AUTOWARE_SUBSCRIPTION_OPTIONS options;
+  sub_ = AUTOWARE_CREATE_SUBSCRIPTION(
+    DetectedObjectsWithFeature, "~/input", 1,
+    [this](const AUTOWARE_MESSAGE_CONST_SHARED_PTR(DetectedObjectsWithFeature) & input) {
+      this->objectCallback(input);
+    },
+    options);
   convert_params_.run_convex_hull_conversion =
     this->declare_parameter<bool>("run_convex_hull_conversion", false);
   published_time_publisher_ = std::make_unique<autoware_utils::PublishedTimePublisher>(this);
 }
 
 void DetectedObjectFeatureRemover::objectCallback(
-  const DetectedObjectsWithFeature::ConstSharedPtr input)
+  const AUTOWARE_MESSAGE_CONST_SHARED_PTR(DetectedObjectsWithFeature) & input)
 {
   DetectedObjects output;
   convert::convertToDetectedObjects(*input, output, convert_params_);

perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.hpp

@@ -17,6 +17,7 @@
 
 #include "autoware/detected_object_feature_remover/convert.hpp"
 
+#include <autoware/agnocast_wrapper/autoware_agnocast_wrapper.hpp>
 #include <autoware_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -36,11 +37,11 @@ class DetectedObjectFeatureRemover : public rclcpp::Node
   explicit DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options);
 
 private:
-  rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
+  AUTOWARE_SUBSCRIPTION_PTR(DetectedObjectsWithFeature) sub_;
   rclcpp::Publisher<DetectedObjects>::SharedPtr pub_;
   convert::ConvertParams convert_params_;
   std::unique_ptr<autoware_utils::PublishedTimePublisher> published_time_publisher_;
-  void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input);
+  void objectCallback(const AUTOWARE_MESSAGE_CONST_SHARED_PTR(DetectedObjectsWithFeature) & input);
 };
 
 }  // namespace autoware::detected_object_feature_remover

perception/autoware_detection_by_tracker/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_detection_by_tracker)
 
 find_package(autoware_cmake REQUIRED)
+find_package(autoware_agnocast_wrapper REQUIRED)
 autoware_package()
 
 # Ignore -Wnonportable-include-path in Clang for mussp
@@ -28,14 +29,25 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/tracker/tracker_handler.cpp
 )
 
+target_include_directories(${PROJECT_NAME} PRIVATE
+  ${autoware_agnocast_wrapper_INCLUDE_DIRS}
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  autoware_agnocast_wrapper
+)
+
 target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
   ${PCL_LIBRARIES}
 )
 
-rclcpp_components_register_node(${PROJECT_NAME}
+autoware_agnocast_wrapper_setup(${PROJECT_NAME})
+
+autoware_agnocast_wrapper_register_node(${PROJECT_NAME}
   PLUGIN "autoware::detection_by_tracker::DetectionByTracker"
   EXECUTABLE detection_by_tracker_node
+  AGNOCAST_EXECUTOR SingleThreadedAgnocastExecutor
 )
 ament_auto_package(INSTALL_TO_SHARE
   launch

perception/autoware_detection_by_tracker/launch/detection_by_tracker.launch.xml

@@ -1,10 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  <include file="$(find-pkg-share autoware_agnocast_wrapper)/launch/agnocast_env.launch.xml"/>
+
   <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="input/initial_objects" default="/perception/object_recognition/detection/clustering/objects_with_feature"/>
   <arg name="output" default="objects"/>
   <arg name="detection_by_tracker_param_path" default="$(find-pkg-share autoware_detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
   <node pkg="autoware_detection_by_tracker" exec="detection_by_tracker_node" name="detection_by_tracker_node" output="screen">
+    <env name="LD_PRELOAD" value="$(var ld_preload_value)"/>
     <remap from="~/input/tracked_objects" to="$(var input/tracked_objects)"/>
     <remap from="~/input/initial_objects" to="$(var input/initial_objects)"/>
     <remap from="~/output" to="$(var output)"/>

perception/autoware_detection_by_tracker/package.xml

@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_agnocast_wrapper</depend>
   <depend>autoware_euclidean_cluster</depend>
   <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_shape_estimation</depend>