update vehicle adaptor

vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt

@@ -24,7 +24,6 @@ ament_auto_add_library(vehicle_adaptor SHARED
   src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_prediction.cpp
   src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/nominal_dynamics.cpp
   src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/transform_vehicle_adaptor_model.cpp
-  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/linear_regression_compensator.cpp
   src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_ref_smoother.cpp
   src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/vehicle_adaptor_utils.cpp
 )

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.github/actions/setup/action.yml

@@ -0,0 +1,39 @@
+name: setup environment
+description: setup environment for CI and install dependencies
+
+runs:
+  using: "composite"
+  steps:
+    - name: checkout
+      uses: actions/checkout@v4
+
+    - name: install dependencies
+      run: >
+        sudo apt-get -qq update &&
+        sudo apt-get -qq install -y
+        software-properties-common &&
+        sudo add-apt-repository ppa:deadsnakes/ppa &&
+        sudo apt-get -qq update &&
+        sudo apt-get -qq install -y
+        cmake
+        jq
+        gcc
+        libyaml-cpp-dev
+        python3.10
+        python3.10-venv
+        python3-pip
+        python3-pybind11
+      shell: bash
+
+    - name: install eigen 3.4.0
+      run: |
+        sudo bash .github/scripts/install_eigen.sh
+      shell: bash
+
+    - name: installation of this repository
+      run: sudo pip3 install .
+      shell: bash
+
+    - name: install pip packages
+      run: pip3 install -r requirements.txt
+      shell: bash

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.github/scripts/install_eigen.sh

@@ -0,0 +1,66 @@
+#!/bin/bash
+
+function log()
+{
+  echo "::${1}::${*:2}"
+}
+
+function warning()
+{
+  log warning "${*}"
+}
+
+function debug()
+{
+  log debug "${*}"
+}
+
+version="3.4.0"
+project_id=15462818
+gitlab="https://gitlab.com/api/v4/projects"
+
+releases=$(curl -s "${gitlab}/${project_id}/releases" | jq -cr '.[].tag_name')
+latest=$(echo "${releases}" | head -n 1)
+
+if [[ "${version}" == "latest" ]]
+then
+  version=${latest}
+  debug "Found ${version} latest release"
+elif ! grep -q "${version}" <<< "${releases}"
+then
+  warning "Not found ${version} release"
+  version=${latest}
+fi
+
+debug "Installing ${version} release..."
+
+release_source=$(curl -s "${gitlab}/${project_id}/releases/${version}" | jq -rc '.assets.sources[] | select( .format == "tar.gz" ).url')
+
+if ! command -v wget &> /dev/null
+then
+  curl -L "${release_source}" | tar -xvz > /dev/null
+else
+  wget -qO- "${release_source}" | tar -xvz > /dev/null
+fi
+
+eigen_install_dir="/usr"
+eigen_dir="eigen-${version}"
+
+cmake -E make_directory build
+cmake "${eigen_dir}" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="${eigen_install_dir}" -DEIGEN_BUILD_PKGCONFIG=ON
+cmake --install . --config Release
+
+cmake_module_path="${eigen_install_dir}/share/eigen3/cmake"
+pkg_config_path="${eigen_install_dir}/share/pkgconfig"
+
+# shellcheck disable=SC2046
+cp $(ls -d "${eigen_dir}"/cmake/*.cmake) "${cmake_module_path}"
+
+{
+  echo "Eigen3_DIR=${cmake_module_path}"
+  echo "Eigen3_Dir=${cmake_module_path}"
+  echo "PKG_CONFIG_PATH=${pkg_config_path}"
+} >> "${GITHUB_ENV}"
+
+
+debug "Successfully setup Eigen3 of ${version} version"

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.github/workflows/ci.yml

@@ -0,0 +1,69 @@
+# see: https://github.com/rami3l/plfl/blob/master/.github/workflows/ci.yml
+name: CI
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency#example-only-cancel-in-progress-jobs-or-runs-for-the-current-workflow
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build_test:
+    runs-on: self-hosted
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+
+      - name: setup and install dependencies
+        uses: ./.github/actions/setup
+
+      - name: test for building `vehicle_adaptor_compensator.cpp`
+        run: python3 build_test.py
+
+      - name: test for building `actuation_map_2d.cpp`
+        run: python3 build_actuation_map_2d_test.py
+
+  run_simulator:
+    runs-on: self-hosted
+    needs: build_test
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+
+      - name: setup and install dependencies
+        uses: ./.github/actions/setup
+
+      - name: test for python simulator
+        run: |
+          cd autoware_vehicle_adaptor/python_simulator
+          python3 run_vehicle_adaptor.py
+          cd ../..
+
+      - name: test for calibration simulator
+        run: |
+          cd autoware_vehicle_adaptor/python_simulator
+          python3 run_accel_brake_map_calibrator.py
+          cd ../..
+
+      - name: Get current date and time
+        env:
+          TZ: "Asia/Tokyo"
+        id: date
+        run: echo "date=$(date +'%Y-%m-%d-%H-%M')" >> $GITHUB_OUTPUT
+
+      - name: upload log to artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: "${{ steps.date.outputs.date }}-log-data"
+          path: "autoware_vehicle_adaptor/python_simulator/log_data/"
+          # artifact は一週間だけ保持
+          retention-days: 7
+          if-no-files-found: warn