Full Stack Clean-up
The Autoware.ai stack has become a bit... rough around the edges. This ticket serves to track a general clean-up effort in the codebase which will hopefully help with future maintenance and portability. I suggest that we order the events such that they progress from least review required to most. Each repo and each step should be its own MR. My proposed plan looks like this:
CMakeLists.txt Clean-up (formatting and dependencies) and tabs/space replacement:
-
common!58 (merged) -
core_perception!59 (merged) -
core_planning!57 (merged) -
docker (N/A) -
drivers!25 (merged) -
messages!23 (merged) -
simulation!21 (merged) -
utilities!63 (merged) -
visualization!21 (merged)
Linting applied and made automatic (roslint
or similar):
-
common -
amathutils_lib common!71 (merged) -
autoware_health_checker -
emergency_handler -
gnss common!73 (merged) -
lanelet2_extension -
libvectormap common!74 (merged) -
libwaypoint_follower common!75 (merged) -
map_file -
object_map -
op_planner -
op_ros_helpers -
op_simu -
op_utility -
ros_observer -
vector_map common!80 (merged) -
vector_map_server common!81 (merged) -
vehicle_sim_model
-
-
core_perception -
autoware_connector -
ekf_localizer -
gnss_localizer -
image_processor -
lidar_apollo_cnn_seg_detect -
lidar_euclidean_cluster_detect -
lidar_fake_perception -
lidar_imm_ukf_pda_track -
lidar_kf_contour_track -
lidar_localizer -
lidar_naive_l_shape_detect -
lidar_point_pillars -
lidar_shape_estimation -
naive_motion_predict -
ndt_cpu -
ndt_gpu -
ndt_tku -
obj_db -
pcl_omp_registration -
pixel_cloud_fusion -
points_downsampler -
points_preprocessor -
pos_db -
range_vision_fusion -
road_occupancy_processor -
roi_object_filter -
trafficlight_recognizer -
twist_generator -
vel_pose_diff_checker -
vision_beyond_track -
vision_darknet_detect -
vision_lane_detect -
vision_segment_enet_detect -
vision_ssd_detect
-
-
core_planning -
astar_search -
costmap_generator -
decision_maker -
dp_planner -
ff_waypoint_follower -
freespace_planner -
lane_planner -
lattice_planner -
mpc_follower -
op_global_planner -
op_local_planner -
op_simulation_package -
op_utilities -
pure_pursuit -
state_machine_lib -
twist_filter -
twist_gate -
way_planner -
waypoint_maker -
waypoint_planner
-
-
docker -
drivers -
analog_devices -
as drivers!28 (merged) -
autoware_driveworks_gmsl_interface -
autoware_driveworks_interface -
baumer -
custom_msgs -
garmin -
hokuyo -
javad_navsat_driver -
kvaser -
lms5xx -
memsic -
microstrain -
nmea_navsat -
pointgrey -
sick_ldmrs_description -
sick_ldmrs_driver -
sick_ldmrs_laser -
sick_ldmrs_msgs -
sick_ldmrs_tools -
vectacam -
xsens_driver -
ymc
-
-
messages -
simulation -
gazebo_camera_description -
gazebo_imu_description -
lgsvl_simulator_bridge -
vehicle_gazebo_simulation_interface -
vehicle_gazebo_simulation_launcher -
wf_simulator
-
-
utilities -
autoware_bag_tools -
autoware_camera_lidar_calibrator -
autoware_launcher -
autoware_launcher_rviz -
calibration_publisher -
data_preprocessor -
graph_tools -
kitti_box_publisher -
kitti_launch -
kitti_player -
lanelet_aisan_converter -
log_tools -
map_tf_generator -
map_tools -
marker_downsampler -
mqtt_socket -
multi_lidar_calibrator -
oculus_socket -
pc2_downsampler -
rosbag_controller -
runtime_manager -
sound_player -
sync -
tablet_socket -
twist2odom -
udon_socket -
vehicle_engage_panel -
vehicle_socket
-
-
visualization -
decision_maker_panel -
detected_objects_visualizer -
fastvirtualscan -
gazebo_world_description -
glviewer -
integrated_viewer -
points2image -
rosinterface -
state_panel -
vehicle_description -
vehicle_model
-
Fixed as many build warnings as possible:
-
common -
core_perception -
core_planning -
docker -
drivers -
messages -
simulation -
utilities -
visualization
ROS C++ Style Guide Applied to file names:
-
common -
core_perception -
core_planning -
docker -
drivers -
messages -
simulation -
utilities -
visualization
ROS C++ Style Guide Applied to code (including function, variable, and class naming):
-
common -
core_perception -
core_planning -
docker -
drivers -
messages -
simulation -
utilities -
visualization
STRETCH GOALS
Technical and Functional Code Review Completed:
-
common -
core_perception -
core_planning -
docker -
drivers -
messages -
simulation -
utilities -
visualization
100% Test Coverage Completed:
-
common -
core_perception -
core_planning -
docker -
drivers -
messages -
simulation -
utilities -
visualization