chore: bump version to 1.8.0 (#12544)

Author: mitsudome-r

.clang-tidy-ci

@@ -0,0 +1,34 @@
+Checks: "
+  -*,
+  bugprone-*,
+  -bugprone-assignment-in-if-condition,
+  -bugprone-branch-clone,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-empty-catch,
+  -bugprone-exception-escape,
+  -bugprone-implicit-widening-of-multiplication-result,
+  -bugprone-infinite-loop,
+  -bugprone-integer-division,
+  -bugprone-macro-parentheses,
+  -bugprone-multi-level-implicit-pointer-conversion,
+  -bugprone-narrowing-conversions,
+  -bugprone-optional-value-conversion,
+  -bugprone-parent-virtual-call,
+  -bugprone-reserved-identifier,
+  -bugprone-signed-char-misuse,
+  -bugprone-switch-missing-default-case,
+  -bugprone-unchecked-optional-access,
+  -bugprone-unused-local-non-trivial-variable,
+  -bugprone-unused-return-value"
+
+WarningsAsErrors: "*"
+
+ExtraArgs:
+  - -std=c++17
+  - -Wno-c11-extensions
+  - -Wno-unknown-warning-option
+  - -Wno-deprecated-declarations
+  - -Wno-delete-non-abstract-non-virtual-dtor
+  - -Wno-unused-private-field
+  - -Wno-unused-but-set-variable
+  - -Wno-deprecated-builtins

.cspell.json

@@ -2,17 +2,36 @@
   "ignorePaths": [
     "perception/autoware_bytetrack/lib/**",
     "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**",
-    "perception/autoware_shape_estimation/resource/**"
+    "perception/autoware_shape_estimation/resource/**",
+    "planning/autoware_path_optimizer/src/acados_mpc/**",
+    "planning/autoware_path_optimizer/scripts/**"
   ],
   "ignoreRegExpList": [],
   "words": [
-    "dltype",
-    "tvmgen",
-    "fromarray",
-    "soblin",
-    "brkay54",
+    "blasfeo",
+    "CUDA_HOSTDEV",
+    "expl",
+    "hpipm",
+    "HPIPM",
+    "idxbu",
+    "idxsh",
+    "ineq",
+    "lacados",
+    "lambdify",
+    "Lambdify",
+    "libacados",
     "libtensorrt",
+    "psidot",
+    "Psidot",
+    "Psi̇",
+    "trigsimp",
     "TRTBEV",
-    "CUDA_HOSTDEV"
+    "tvmgen",
+    "utraj",
+    "vertcat",
+    "xdot",
+    "xtraj",
+    "ydot",
+    "yref"
   ]
 }

.github/CODEOWNERS

@@ -19,14 +19,14 @@ jobs:
       - name: Combine Repos Files
         uses: ./.github/actions/combine-repos-action
         with:
-          base_file: build_depends_humble.repos
+          base_file: build_depends_stable.repos
           overlay_file: build_depends_nightly.repos
           output_file: build_depends.repos
 ```
 
 In this example:
 
-- The action reads the `build_depends_humble.repos` file and the `build_depends_nightly.repos` file.
+- The action reads the `build_depends_stable.repos` file and the `build_depends_nightly.repos` file.
 - It merges them with overlay file taking precedence.
 - The resulting file is saved as `build_depends.repos` (or a custom filename if specified).
 

.github/actions/combine-repos-action/README.md

@@ -15,21 +15,17 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install python3-pip
-      run: |
-        sudo apt-get -yqq update
-        sudo apt-get -yqq install python3-pip python-is-python3
-      shell: bash
-
     - name: Display Python version
       run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install python-is-python3
         python --version
-        which pip
-        pip --version
       shell: bash
 
-    - name: Install PyYAML dependency
-      run: pip install pyyaml
+    - name: Install PyYAML
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install python3-yaml
       shell: bash
 
     - name: Combine repos files

.github/actions/combine-repos-action/action.yaml

@@ -0,0 +1,36 @@
+name: Tune DDS network settings
+description: |
+  Apply the DDS tweaks that docker-entrypoint.sh would have done, since
+  GitHub Actions overrides the image entrypoint with `tail -f /dev/null`.
+  The calling job's container must include `--cap-add=NET_ADMIN`.
+
+runs:
+  using: composite
+  steps:
+    - name: 📡 Enable multicast on loopback
+      run: |
+        if ip link set lo multicast on; then
+          echo "✅ multicast enabled on lo"
+        else
+          echo "::warning title=DDS tuning::could not enable multicast on lo (NET_ADMIN missing?)"
+        fi
+      shell: bash
+
+    - name: 🩹 Relax CycloneDDS receive buffer requirement
+      # Bridge until autowarefoundation/autoware ships min="default" in cyclonedds.xml.
+      run: |
+        if [ -f /home/aw/cyclonedds.xml ]; then
+          sed -i 's|min="10MB"|min="default"|' /home/aw/cyclonedds.xml
+          echo "✅ patched: SocketReceiveBufferSize min=\"default\""
+        else
+          echo "::notice title=DDS tuning::/home/aw/cyclonedds.xml not present, skipping patch"
+        fi
+      shell: bash
+
+    - name: 🔍 Show effective DDS-relevant settings
+      run: |
+        printf '  %-22s = %s\n' "net.core.rmem_max"     "$(cat /proc/sys/net/core/rmem_max         2>/dev/null || echo unknown)"
+        printf '  %-22s = %s\n' "net.ipv4.ipfrag_time"  "$(cat /proc/sys/net/ipv4/ipfrag_time      2>/dev/null || echo unknown)"
+        printf '  %-22s = %s\n' "net.ipv4.ipfrag_high"  "$(cat /proc/sys/net/ipv4/ipfrag_high_thresh 2>/dev/null || echo unknown)"
+        printf '  %-22s : %s\n' "lo flags"              "$(ip -o link show lo 2>/dev/null | head -1 || echo unknown)"
+      shell: bash

.github/actions/tune-dds-network/action.yaml

@@ -17,37 +17,22 @@ They are free to use for public repositories, with a concurrency limit of 20 job
 
 **Note:** While the official documentation lists 14 GB of storage, the actual available storage is approximately 73 GB.
 
-### AWS CodeBuild runners
+### Self-hosted runners
 
-- [AWS CodeBuild Documentation](https://docs.aws.amazon.com/codebuild/latest/userguide/action-runner.html)
+Registered with the labels `[self-hosted, Linux, X64]` and used by the heavier CUDA/merge jobs.
 
-These runners are employed for workflows that require more resources and are funded by the Autoware Foundation budget.
-
-**Relevant machine types:**
-
-| Instance Type   | Memory | vCPUs | Price per Minute |
-| --------------- | ------ | ----- | ---------------- |
-| arm1.large      | 16 GiB | 8     | $0.015           |
-| general1.medium | 7 GB   | 4     | $0.01            |
-| general1.large  | 15 GB  | 8     | $0.02            |
-| general1.xlarge | 72 GiB | 36    | $0.0798          |
-| gpu1.small      | 15 GB  | 4     | $0.05            |
-
-**Sources:**
-
-- [Compute images supported with the CodeBuild-hosted GitHub Actions runner](https://docs.aws.amazon.com/codebuild/latest/userguide/sample-github-action-runners-update-yaml.images.html)
-- [AWS CodeBuild pricing](https://aws.amazon.com/codebuild/pricing/)
+| Machine | CPU                                       | RAM   | Storage    |
+| ------- | ----------------------------------------- | ----- | ---------- |
+| SYS-3   | Intel Xeon-E 2288G (8 cores / 16 threads) | 32 GB | 855 GB SSD |
 
 ## Key workflows and their runners
 
-| Workflow                           | Trigger               | Runner         |
-| ---------------------------------- | --------------------- | -------------- |
-| build-and-test (cuda)              | merge to main         | general1.large |
-| build-and-test-daily               | daily on main         | github-std     |
-| build-and-test-daily-arm64         | daily on main         | arm1.large     |
-| build-and-test-differential        | PR update             | github-std     |
-| build-and-test-differential (cuda) | PR update             | general1.large |
-| build-and-test-differential-arm64  | PR update (arm label) | arm1.large     |
+| Workflow                                   | Trigger        | Runner                                        |
+| ------------------------------------------ | -------------- | --------------------------------------------- |
+| build-and-test                             | push to `main` | self-hosted                                   |
+| build-and-test-daily                       | daily / manual | self-hosted (amd64), ubuntu-22.04-arm (arm64) |
+| build-and-test-packages-above-differential | PR update      | self-hosted                                   |
+| build-test-tidy-pr                         | PR update      | github-std (non-cuda), self-hosted (cuda)     |
 
 ## Additional notes
 

.github/overall-ci-infrastructure.md

@@ -8,8 +8,6 @@
     - source: .github/pull_request_template_complex.md
       dest: .github/pull_request_template.md
     - source: .github/stale.yml
-    - 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
@@ -23,6 +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
     - source: docs/assets/js/mathjax.js

.github/sync-files.yaml

@@ -7,49 +7,62 @@ on:
 
 jobs:
   build-and-test-daily:
-    uses: ./.github/workflows/build-and-test-reusable.yaml
-    with:
-      runner: "['self-hosted', 'Linux', 'X64']"
-      container: ghcr.io/autowarefoundation/autoware:universe-devel
-      container-suffix: ""
-      pull-ccache: true
-      concurrency-group: build-and-test-daily-${{ github.ref }}-${{ github.run_id }}
-      codecov-flag: daily
-    secrets:
-      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: [humble, jazzy]
+        cuda: [false, true]
+        arch: [amd64, arm64]
 
-  build-and-test-daily-cuda:
-    uses: ./.github/workflows/build-and-test-reusable.yaml
-    with:
-      runner: "['self-hosted', 'Linux', 'X64']"
-      container: ghcr.io/autowarefoundation/autoware:universe-devel
-      container-suffix: -cuda
-      pull-ccache: true
-      concurrency-group: build-and-test-daily-cuda-${{ github.ref }}-${{ github.run_id }}
-      codecov-flag: daily-cuda
-    secrets:
-      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+        exclude:
+          # Humble is being phased out; only run CUDA amd64 as a minimal check
+          - rosdistro: humble
+            arch: arm64
+          - rosdistro: humble
+            cuda: false
+          # Non-CUDA arm64 has no deployment target; keep non-CUDA only on amd64 as a sanity check
+          - cuda: false
+            arch: arm64
 
-  build-and-test-daily-arm64:
-    uses: ./.github/workflows/build-and-test-reusable.yaml
-    with:
-      runner: "['ubuntu-22.04-arm']"
-      container: ghcr.io/autowarefoundation/autoware:universe-devel
-      container-suffix: ""
-      build-pre-command: taskset --cpu-list 0-6
-      concurrency-group: build-and-test-daily-arm64-${{ github.ref }}-${{ github.run_id }}
-      codecov-flag: daily-arm64
-    secrets:
-      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+        include:
+          # Container per (rosdistro, cuda) combination
+          - rosdistro: humble
+            cuda: true
+            container-base: ghcr.io/autowarefoundation/autoware:universe-dependencies-cuda-humble
+          - rosdistro: jazzy
+            cuda: true
+            container-base: ghcr.io/autowarefoundation/autoware:universe-dependencies-cuda-jazzy
+          - rosdistro: jazzy
+            cuda: false
+            container-base: ghcr.io/autowarefoundation/autoware:universe-dependencies-jazzy
+
+          # CUDA variant configurations
+          - cuda: true
+            cache-suffix: cuda
+
+          - cuda: false
+            cache-suffix: nocuda
+
+          # Architecture specific configurations
+          - arch: amd64
+            runner: "['self-hosted', 'Linux', 'X64']"
+            build-pre-command: ""
+
+          - arch: arm64
+            runner: "['ubuntu-22.04-arm']"
+            build-pre-command: taskset --cpu-list 0-6
 
-  build-and-test-daily-arm64-cuda:
     uses: ./.github/workflows/build-and-test-reusable.yaml
     with:
-      runner: "['ubuntu-22.04-arm']"
-      container: ghcr.io/autowarefoundation/autoware:universe-devel
-      container-suffix: -cuda
-      build-pre-command: taskset --cpu-list 0-6
-      concurrency-group: build-and-test-daily-arm64-cuda-${{ github.ref }}-${{ github.run_id }}
-      codecov-flag: daily-arm64-cuda
+      rosdistro: ${{ matrix.rosdistro }}
+      container: ${{ matrix.container-base }}
+      runner: ${{ matrix.runner }}
+      build-pre-command: ${{ matrix.build-pre-command }}
+      arch: ${{ matrix.arch }}
+      pull-ccache: true
+      push-ccache: false
+      concurrency-group: build-and-test-daily-${{ matrix.rosdistro }}-${{ matrix.arch }}-${{ matrix.cache-suffix }}-${{ github.ref }}-${{ github.run_id }}
+      upload-coverage: ${{ matrix.rosdistro == 'jazzy' && matrix.arch == 'amd64' && matrix.cuda }}
+      codecov-flag: daily
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}