feat: support jazzy

.github/workflows/colcon-test.yaml → .github/workflows/colcon-test-humble.yaml

@@ -1,4 +1,4 @@
-name: colcon-test
+name: colcon-test (humble)
 
 on:
   pull_request:
@@ -48,7 +48,7 @@ jobs:
         with:
           package-name: ${{ steps.list_packages.outputs.package_list }}
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: dependency.repos
+          vcs-repo-file-url: dependency/humble.repos
           import-token: ${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
             {

.github/workflows/colcon-test-jazzy.yaml

@@ -0,0 +1,84 @@
+name: colcon-test (jazzy)
+
+on:
+  pull_request:
+    types: [opened, synchronize]
+    paths: [driving_log_replayer_v2/**, .github/workflows/colcon-test-jazzy.yaml]
+  schedule:
+    - cron: 0 0 * * 0
+  workflow_dispatch:
+
+jobs:
+  colcon-test:
+    runs-on: ubuntu-latest
+    # PEP 668: for rosdep pip rules
+    # https://docs.ros.org/en/independent/api/rosdep/html/pip_and_pep_668.html
+    env:
+      PIP_BREAK_SYSTEM_PACKAGES: "1"
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - jazzy
+        include:
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+            ros_distribution: jazzy
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Cancel Previous Runs
+        uses: styfle/cancel-workflow-action@0.12.1
+        with:
+          access_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Checkout
+        uses: actions/checkout@v5
+
+      - name: Search packages in this repository
+        id: list_packages
+        run: |
+          echo package_list=$(colcon list --names-only | sed -e ':loop; N; $!b loop; s/\n/ /g') >> $GITHUB_OUTPUT
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@0.7.15
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@v0.4
+        id: actions_ros_ci_step
+        with:
+          package-name: ${{ steps.list_packages.outputs.package_list }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: dependency/jazzy.repos
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/b8436aa16c0bdbc01081b12caa253cbf16e0fb82/index.yaml
+
+      - name: Upload Unit Test Output
+        uses: actions/upload-artifact@v4
+        if: ${{ !cancelled() && !github.event.pull_request.head.repo.fork }}
+        with:
+          name: colcon-logs
+          path: ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
+
+      - name: fix paths for coverage file
+        if: ${{ !github.event.pull_request.head.repo.fork }}
+        run: sed -E -i 's/^([[:space:]]*<source>[[:space:]]*)(.*\/)(driving_log_replayer_v2\/driving_log_replayer_v2)/\1.\/driving_log_replayer_v2/' /__w/driving_log_replayer_v2/driving_log_replayer_v2/ros_ws/build/driving_log_replayer_v2/pytest_cov/driving_log_replayer_v2/coverage.xml
+
+      - name: Upload Coverage File
+        uses: actions/upload-artifact@v4
+        if: ${{ !cancelled() && !github.event.pull_request.head.repo.fork }}
+        with:
+          name: colcon-logs
+          path: /__w/driving_log_replayer_v2/driving_log_replayer_v2/ros_ws/build/driving_log_replayer_v2/pytest_cov/driving_log_replayer_v2/

.vscode/c_cpp_properties.json

@@ -7,6 +7,7 @@
       },
       "includePath": [
         "/opt/ros/humble/include/**",
+        "/opt/ros/jazzy/include/**",
         "driving_log_replayer_v2/include/**",
         "${workspaceFolder}/../../../install/**",
         "/usr/include/**",

.vscode/settings.json

@@ -25,6 +25,7 @@
     "editor.defaultFormatter": "charliermarsh.ruff"
   },
   "python.autoComplete.extraPaths": [
+    // ROS2 Humble and Python 3.10
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.10/dist-packages",
@@ -42,9 +43,29 @@
     "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages"
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages",
+    // ROS2 Jazzy and Python 3.12
+    "/opt/ros/jazzy/lib/python3.12/site-packages",
+    "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_map_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_planning_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_localization_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_lanelet2_extension_python/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.12/dist-packages"
   ],
   "python.analysis.extraPaths": [
+    // ROS2 Humble and Python 3.10
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.10/dist-packages",
@@ -62,7 +83,26 @@
     "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages"
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages",
+    // ROS2 Jazzy and Python 3.12
+    "/opt/ros/jazzy/lib/python3.12/site-packages",
+    "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_map_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_planning_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_localization_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_lanelet2_extension_python/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.12/dist-packages"
   ],
   "files.associations": {
     "cctype": "cpp",
@@ -145,5 +185,5 @@
     "stop_token": "cpp",
     "functional": "cpp"
   },
-  "ros.distro": "humble"
+  "ros.distro": "humble" // or "jazzy"
 }

README.md

@@ -4,8 +4,8 @@ driving_log_replayer_v2 is a ROS package that evaluates the functionality of Aut
 
 ## Requirements
 
-- ROS 2 humble
-- [Python 3.10](https://www.python.org/)
+- ROS 2 humble or Jazzy
+- Python 3.10 or 3.12
 
 ### Optional
 

dependency/jazzy.repos

@@ -0,0 +1,38 @@
+repositories:
+  autoware/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: 1.3.0
+  autoware/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: beta/1.7.0
+  autoware/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: 1.3.0
+  autoware/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: 1.0.0
+  autoware/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: 1.0.0
+  autoware/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
+    version: 0.12.0
+  autoware/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  # simulator
+  simulator/perception_eval:
+    type: git
+    url: https://github.com/tier4/autoware_perception_evaluation.git
+    version: main
+  simulator/vendor/ros2_numpy:
+    type: git
+    url: https://github.com/Box-Robotics/ros2_numpy.git
+    version: jazzy

docs/quick_start/installation.en.md

@@ -5,13 +5,22 @@ This document contains step-by-step instruction on how to build [AWF Autoware Co
 ## Requirements
 
 - CPU amd64
-- Ubuntu 22.04
-- ROS humble
-- Python 3.10
 - NVIDIA GPU (required if running perception)
 - [zstd](https://github.com/facebook/zstd)
   - sudo apt install zstd
 
+Supported environment: either the Humble stack or the Jazzy stack below.
+
+- Ubuntu 22.04
+- ROS Humble
+- Python 3.10
+
+or
+
+- Ubuntu 24.04
+- ROS Jazzy
+- Python 3.12
+
 ## How to build
 
 1. Navigate to the Autoware workspace:
@@ -39,7 +48,7 @@ This document contains step-by-step instruction on how to build [AWF Autoware Co
      simulator/vendor/ros2_numpy:
        type: git
        url: https://github.com/Box-Robotics/ros2_numpy.git
-       version: humble
+       version: humble  # or jazzy
      simulator/vendor/ros2bag_extensions:
        type: git
        url: https://github.com/tier4/ros2bag_extensions.git

docs/quick_start/installation.ja.md

@@ -5,13 +5,22 @@
 ## Requirements
 
 - CPU amd64
-- Ubuntu 22.04
-- ROS humble
-- Python 3.10
 - NVIDIA GPU (required if running perception)
 - [zstd](https://github.com/facebook/zstd)
   - sudo apt install zstd
 
+次のいずれかの環境セットを満たす必要がある。
+
+- Ubuntu 22.04
+- ROS Humble
+- Python 3.10
+
+or
+
+- Ubuntu 24.04
+- ROS Jazzy
+- Python 3.12
+
 ## ビルド方法
 
 1. Autoware workspace に移動する:
@@ -39,7 +48,7 @@
      simulator/vendor/ros2_numpy:
        type: git
        url: https://github.com/Box-Robotics/ros2_numpy.git
-       version: humble
+       version: humble  # or jazzy
      simulator/vendor/ros2bag_extensions:
        type: git
        url: https://github.com/tier4/ros2bag_extensions.git

driving_log_replayer_v2/CMakeLists.txt

@@ -5,8 +5,20 @@ find_package(ament_cmake_python REQUIRED)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements.txt")
-execute_process(COMMAND bash -c "python3 -m pip install -r ${ROS_REQUIREMENTS}")
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+if(Python3_VERSION VERSION_GREATER_EQUAL "3.10" AND Python3_VERSION VERSION_LESS "3.12")
+  set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements/humble.txt")
+  execute_process(COMMAND bash -c "python3 -m pip install -r ${ROS_REQUIREMENTS}")
+elseif(Python3_VERSION VERSION_GREATER_EQUAL "3.12")
+  set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements/jazzy.txt")
+  execute_process(COMMAND bash -c "PIP_BREAK_SYSTEM_PACKAGES=1 python3 -m pip install --ignore-installed -r ${ROS_REQUIREMENTS}")
+else()
+  message(
+    FATAL_ERROR
+    "Python version ${Python3_VERSION} is not supported. "
+    "Use Python 3.10+ (3.10–3.11 or 3.12+ as configured for this build)."
+  )
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -40,6 +52,9 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(FILES "${ROS_REQUIREMENTS}"
+  DESTINATION share/${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py

@@ -20,7 +20,6 @@
 
 import numpy as np
 import ros2_numpy
-from rosbag2_py import TopicMetadata
 from std_msgs.msg import String
 
 from driving_log_replayer_v2.ground_segmentation.evaluation_manager import (
@@ -29,11 +28,13 @@
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationResult
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationScenario
 import driving_log_replayer_v2.perception_eval_conversions as eval_conversions
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
 from driving_log_replayer_v2.post_process.runner import UseCaseInfo
 
 if TYPE_CHECKING:
+    from rosbag2_py import TopicMetadata
     from sensor_msgs.msg import PointCloud2
     from std_msgs.msg import Header
 
@@ -105,11 +106,9 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/ground_segmentation/results",
-                type="std_msgs/msg/String",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="std_msgs/msg/String",
             ),
         ]