chore: bump version to 1.9.0

Author: mitsudome-r

.github/CODEOWNERS

@@ -4,7 +4,7 @@ api/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp @a
 api/autoware_core_api/** mfc@autoware.org ryohsuke.mitsudome@tier4.jp yutaka.kondo@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 api/autoware_default_adapi/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 autoware_core/** mfc@autoware.org ryohsuke.mitsudome@tier4.jp yutaka.kondo@tier4.jp @autowarefoundation/autoware-core-global-codeowners
-common/autoware_agnocast_wrapper/** atsushi.yano.2@tier4.jp koichi.imai.2@tier4.jp sykwer@gmail.com @autowarefoundation/autoware-core-global-codeowners
+common/autoware_agnocast_wrapper/** atsushi.yano.2@tier4.jp koichi.imai.2@tier4.jp primenumber_2_3_5@yahoo.co.jp sykwer@gmail.com tetsuhiro.kawaguchi@tier4.jp yutaro.kobayashi.2@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 common/autoware_component_interface_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-core-global-codeowners
@@ -22,6 +22,7 @@ common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 common/autoware_trajectory/** alqudah.mohammad@tier4.jp arjun.ram@tier4.jp junya.sasaki@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp takumi.odashima@tier4.jp yukinari.hisaki.2@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 common/autoware_vehicle_info_utils/** egon.kang@autocore.ai mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-core-global-codeowners
+control/autoware_command_gate/** junya.sasaki@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 control/autoware_core_control/** mfc@autoware.org ryohsuke.mitsudome@tier4.jp yutaka.kondo@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 control/autoware_simple_pure_pursuit/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp @autowarefoundation/autoware-core-global-codeowners
 description/autoware_awsim_sensor_kit_description/** isamu.takagi@tier4.jp piotr.jaroszek@robotec.ai @autowarefoundation/autoware-core-global-codeowners

.github/sync-files.yaml

@@ -21,6 +21,7 @@
     - source: .github/workflows/spell-check-daily.yaml
       pre-commands: |
         sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
+    - source: .github/workflows/sync-branches.yaml
     - source: .github/workflows/sync-files.yaml
     - source: .github/workflows/update-codeowners-from-packages.yaml
       pre-commands: |

.github/workflows/bump-version-pr.yaml

@@ -1,8 +1,40 @@
+# Workflow: bump-version-pr
+#
+# Opens a release PR that bumps the package versions and updates CHANGELOG.rst
+# files via catkin_tools (catkin_generate_changelog + catkin_prepare_release).
+#
+# Triggered manually via workflow_dispatch with the following inputs:
+#   - base_version:  version (git tag) to bump from. Defaults to the latest
+#                    semantic version tag in the repository.
+#   - target_branch: branch the PR is opened against. Defaults to "main".
+#   - version_part:  which part of the semantic version to bump
+#                    (major / minor / patch).
+#
+# High-level flow:
+#   1. Check out a temporary working branch from the resolved base_version tag.
+#   2. Merge the target_branch into the working branch.
+#   3. Align package.xml versions to base_version and clear CHANGELOG.rst files
+#      so catkin_generate_changelog / catkin_prepare_release do not fail on
+#      packages whose versions have diverged from the base version.
+#   4. Run catkin_generate_changelog and catkin_prepare_release to bump the
+#      version and regenerate changelogs.
+#   5. Push the result and open a PR against target_branch.
+
 name: bump-version-pr
 
 on:
   workflow_dispatch:
     inputs:
+      base_version:
+        description: Version to bump from (defaults to the latest semantic version tag)
+        required: false
+        default: ""
+        type: string
+      target_branch:
+        description: Branch to create the PR against
+        required: false
+        default: main
+        type: string
       version_part:
         description: Which part of the version number to bump?
         required: true
@@ -20,7 +52,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
         with:
-          ref: humble
           fetch-depth: 0
 
       - name: Generate token
@@ -44,37 +75,124 @@ jobs:
         run: pip3 install -U catkin_tools
         shell: bash
 
-      - name: Bump version from humble branch
-        id: bump-version-from-humble-branch
+      - name: Resolve base version
+        id: resolve_base_version
+        env:
+          INPUT_BASE_VERSION: ${{ inputs.base_version }}
+        run: |
+          base_version="${INPUT_BASE_VERSION}"
+          if [ -z "${base_version}" ]; then
+            base_version=$(git tag --list --sort=-v:refname | grep -E '^[0-9]+\.[0-9]+\.[0-9]+$' | head -n 1)
+          fi
+          if [ -z "${base_version}" ]; then
+            echo "Failed to resolve base version." >&2
+            exit 1
+          fi
+          if ! git rev-parse --verify "refs/tags/${base_version}" >/dev/null 2>&1; then
+            echo "Base version tag '${base_version}' does not exist." >&2
+            exit 1
+          fi
+          echo "base_version=${base_version}" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Bump version from base version
+        id: bump_version
+        env:
+          BASE_VERSION: ${{ steps.resolve_base_version.outputs.base_version }}
+          TARGET_BRANCH: ${{ inputs.target_branch }}
+          VERSION_PART: ${{ inputs.version_part }}
         run: |
-          git checkout -b tmp/bot/bump_version_base
-          git fetch origin main
-          git merge origin/main
+          git checkout -b tmp/bot/bump_version_base "refs/tags/${BASE_VERSION}"
+          git fetch origin "${TARGET_BRANCH}"
+          git merge "origin/${TARGET_BRANCH}"
+
+          # For packages whose version diverged from BASE_VERSION:
+          #   - rewrite package.xml's <version> to BASE_VERSION, and
+          #   - delete the package's CHANGELOG.rst
+          # so that catkin_generate_changelog / catkin_prepare_release do not
+          # fail. Collect the affected package names so reviewers can see
+          # which packages had their changelog reset.
+          deleted_changelog_packages_file="${RUNNER_TEMP:-/tmp}/deleted_changelog_packages.txt"
+          : > "${deleted_changelog_packages_file}"
+          while IFS= read -r -d '' pkg; do
+            current_version=$(sed -n 's:.*<version>\(.*\)</version>.*:\1:p' "${pkg}" | head -n 1)
+            if [ "${current_version}" = "${BASE_VERSION}" ]; then
+              continue
+            fi
+            sed -i "0,/<version>[^<]*<\/version>/s//<version>${BASE_VERSION}<\/version>/" "${pkg}"
+            changelog="$(dirname "${pkg}")/CHANGELOG.rst"
+            if [ -f "${changelog}" ]; then
+              pkg_name=$(sed -n 's:.*<name>\(.*\)</name>.*:\1:p' "${pkg}" | head -n 1)
+              [ -z "${pkg_name}" ] && pkg_name=$(dirname "${pkg}")
+              echo "${pkg_name}" >> "${deleted_changelog_packages_file}"
+              rm -f "${changelog}"
+            fi
+          done < <(find . -name package.xml -not -path "./.git/*" -print0)
+          sort -u -o "${deleted_changelog_packages_file}" "${deleted_changelog_packages_file}"
+          echo "deleted_changelog_packages_file=${deleted_changelog_packages_file}" >> $GITHUB_OUTPUT
+
+          if ! git diff --quiet; then
+            git add -A
+            git commit -m "chore: align package versions to ${BASE_VERSION} and reset changelogs"
+          fi
+
           catkin_generate_changelog -y
-          git add *
+          git add -A
           git commit -m "update CHANGELOG.rst"
-          catkin_prepare_release -y --bump ${{ inputs.version_part }} --no-push
+          catkin_prepare_release -y --bump "${VERSION_PART}" --no-push
           version=$(git describe --tags)
           echo "version=${version}" >> $GITHUB_OUTPUT
         shell: bash
 
       - name: Create target branch
+        env:
+          TARGET_BRANCH: ${{ inputs.target_branch }}
+          NEW_VERSION: ${{ steps.bump_version.outputs.version }}
         run: |
-          git checkout origin/main
+          git checkout "origin/${TARGET_BRANCH}"
           git checkout -b chore/bot/bump_version
-          git merge tmp/bot/bump_version_base
+          # Squash the working branch into a single commit so the PR has a
+          # clean history (one commit for the bump) regardless of how many
+          # intermediate commits catkin_prepare_release created.
+          git merge --squash tmp/bot/bump_version_base
+          git commit -m "chore: bump version to ${NEW_VERSION}"
           git push origin chore/bot/bump_version --force
         shell: bash
 
+      - name: Build PR body
+        id: build_pr_body
+        env:
+          BASE_VERSION: ${{ steps.resolve_base_version.outputs.base_version }}
+          NEW_VERSION: ${{ steps.bump_version.outputs.version }}
+          DELETED_CHANGELOG_PACKAGES_FILE: ${{ steps.bump_version.outputs.deleted_changelog_packages_file }}
+        run: |
+          body_file="${RUNNER_TEMP:-/tmp}/pr_body.md"
+          {
+            echo "Bump version from \`${BASE_VERSION}\` to \`${NEW_VERSION}\`."
+            echo
+            if [ -s "${DELETED_CHANGELOG_PACKAGES_FILE}" ]; then
+              printf "%s\n\n%s\n" \
+                     "## Packages whose \`CHANGELOG.rst\` was reset" \
+                     "The following packages had their \`CHANGELOG.rst\` deleted before regenerating changelogs (e.g. their version had diverged from \`${BASE_VERSION}\`). Please double-check the regenerated changelog entries for these packages:"
+              while IFS= read -r pkg; do
+                [ -z "${pkg}" ] && continue
+                echo "- \`${pkg}\`"
+              done < "${DELETED_CHANGELOG_PACKAGES_FILE}"
+            fi
+          } > "${body_file}"
+          echo "body_file=${body_file}" >> $GITHUB_OUTPUT
+        shell: bash
+
       - name: Create PR
-        id: create-pr
-        run: >
-          gh
-          pr
-          create
-          --base=main
-          --body="Bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
-          --title="chore: bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
-          --head=chore/bot/bump_version
+        id: create_pr
         env:
           GH_TOKEN: ${{ steps.generate-token.outputs.token }}
+          TARGET_BRANCH: ${{ inputs.target_branch }}
+          BODY_FILE: ${{ steps.build_pr_body.outputs.body_file }}
+          NEW_VERSION: ${{ steps.bump_version.outputs.version }}
+        run: |
+          gh pr create \
+            --base="${TARGET_BRANCH}" \
+            --body-file="${BODY_FILE}" \
+            --title="chore: bump version to ${NEW_VERSION}" \
+            --head=chore/bot/bump_version

.github/workflows/json-schema-check.yaml

@@ -11,7 +11,7 @@ jobs:
       run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
     steps:
       - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
+      - uses: dorny/paths-filter@v4
         id: paths_filter
         with:
           filters: |

.github/workflows/sync-branches.yaml

@@ -0,0 +1,68 @@
+# 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.
+
+# Opens a PR that merges one branch of this repo into another (e.g. main -> humble).
+#
+# Trigger: manual (workflow_dispatch).
+# Inputs:
+#   base-branch         The branch the PR targets — i.e. the branch that receives changes. Default: humble.
+#   sync-target-branch  The branch the PR's contents come from. Default: main.
+# The PR working branch is derived as: sync-<sync-target-branch>-to-<base-branch>.
+#
+# Auth: uses a GitHub App token (APP_ID / PRIVATE_KEY secrets) so the PR can be
+# created/updated and so workflow files under .github/workflows/ can be synced
+# (the default GITHUB_TOKEN lacks the `workflow` scope).
+name: sync-branches
+
+on:
+  workflow_dispatch:
+    inputs:
+      base-branch:
+        description: Base branch of the sync PR (the branch that receives changes).
+        required: false
+        default: humble
+        type: string
+      sync-target-branch:
+        description: Branch or commit SHA to sync from (the source of changes).
+        required: false
+        default: main
+        type: string
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ inputs.sync-target-branch }}-${{ inputs.base-branch }}
+  cancel-in-progress: true
+
+jobs:
+  sync-branches:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Validate inputs and compute PR branch name
+        id: prepare
+        run: |
+          if [ "${{ inputs.base-branch }}" = "${{ inputs.sync-target-branch }}" ]; then
+            echo "::error::base-branch and sync-target-branch must differ (got '${{ inputs.base-branch }}')."
+            exit 1
+          fi
+          echo "pr-branch=sync-${{ inputs.sync-target-branch }}-to-${{ inputs.base-branch }}" >> "$GITHUB_OUTPUT"
+        shell: bash
+
+      - name: Generate token
+        id: generate-token
+        uses: actions/create-github-app-token@v2
+        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: ${{ inputs.base-branch }}
+          sync-pr-branch: ${{ steps.prepare.outputs.pr-branch }}
+          sync-target-repository: https://github.com/${{ github.repository }}.git
+          sync-target-branch: ${{ inputs.sync-target-branch }}
+          pr-title: "chore: sync ${{ inputs.sync-target-branch }} into ${{ inputs.base-branch }}"
+          pr-labels: |
+            tag:bot
+            tag:sync-branches

.gitignore

@@ -16,3 +16,5 @@ log/
 
 #prettier
 node_modules/
+.cache/
+lcov/

api/autoware_adapi_adaptors/CHANGELOG.rst

@@ -2,6 +2,46 @@
 Changelog for package autoware_adapi_adaptors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.9.0 (2026-06-24)
+------------------
+* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
+* refactor(autoware_adapi_adaptors): extract pure helpers and add unit tests (`#1147 <https://github.com/autowarefoundation/autoware_core/issues/1147>`_)
+  * refactor(autoware_adapi_adaptors): extract pure helpers and add unit tests
+  Extract the previously inlined, node-coupled logic of the two RViz-to-AD-API
+  adaptor nodes into small internal-only free/templated helpers so it can be
+  unit-tested without spinning up a ROS node, and add the package's first test/
+  directory:
+  - vector_to_array<T,N>() in parameter_helper.hpp: the pure size-validating
+  vector-to-array covariance parsing (throw branch is now testable).
+  - decide_routing_action() in routing_state_machine.hpp: the on_timer
+  merge-window/state-machine, returning the next action and updated counter.
+  - set_goal() / append_waypoint() in route_builder.hpp: the route-request
+  building rules, including the on_waypoint frame-mismatch guard.
+  The public node API/ABI is unchanged; the callbacks now delegate to these
+  helpers. Behavior is preserved: the covariance size-error message is identical
+  for N=36, and the timer/route-building branches map one-to-one to the previous
+  inline code.
+  Refs: `autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>`_
+  * Potential fix for pull request finding
+  Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
+  * refactor(autoware_adapi_adaptors): clarify helper naming per PR review
+  Address review feedback on PR `#1147 <https://github.com/autowarefoundation/autoware_core/issues/1147>`_:
+  - Rename the routing merge-window counter from request_timing_control to
+  number_of_requests_for_timing_control across the extracted helper, the
+  RoutingDecision struct, and the RoutingAdaptor member for an explicit name
+  (sasakisasaki).
+  - Rename vector_to_array's parameter from vector to values so it no longer
+  reads like a type name (Copilot).
+  The dimensionally-incorrect merge-window comment was already corrected in the
+  preceding autofix commit. Verified with a Release build and the package gtest
+  suite in the core-devel-jazzy container (37 cases, 0 failures).
+  * modify naming
+  ---------
+  Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
+  Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
+  Co-authored-by: Junya Sasaki <j2sasaki1990@gmail.com>
+* Contributors: Yutaka Kondo, github-actions
+
 1.8.0 (2026-05-01)
 ------------------
 

api/autoware_adapi_adaptors/CMakeLists.txt

@@ -21,4 +21,10 @@ rclcpp_components_register_node(${PROJECT_NAME}
   EXECUTOR SingleThreadedExecutor
 )
 
+if(BUILD_TESTING)
+  ament_auto_add_gtest(test_${PROJECT_NAME}
+    test/test_helpers.cpp
+  )
+endif()
+
 autoware_ament_auto_package(INSTALL_TO_SHARE config launch)

api/autoware_adapi_adaptors/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>autoware_adapi_adaptors</name>
-  <version>1.8.0</version>
+  <version>1.9.0</version>
   <description>The adapi_adaptors package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>

api/autoware_adapi_adaptors/src/initial_pose_adaptor.cpp

@@ -14,6 +14,8 @@
 
 #include "initial_pose_adaptor.hpp"
 
+#include "parameter_helper.hpp"
+
 #include <autoware/qos_utils/qos_compatibility.hpp>
 
 #include <memory>
@@ -27,13 +29,7 @@ using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
 
 std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::string & name)
 {
-  const auto vector = node->declare_parameter<std::vector<double>>(name);
-  if (vector.size() != 36) {
-    throw std::invalid_argument("The covariance parameter size is not 36.");
-  }
-  std::array<double, 36> array;
-  std::copy_n(vector.begin(), array.size(), array.begin());
-  return array;
+  return vector_to_array<double, 36>(node->declare_parameter<std::vector<double>>(name));
 }
 
 InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)