From 3ac46f975c3899d388e2ee4f9c7719ff7eedf5d4 Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 17:31:00 +0900 Subject: [PATCH 1/6] build: remove agnocast from repos as it's available via rosdistro now Signed-off-by: Max SCHMELLER --- build_depends-humble.repos | 9 --------- 1 file changed, 9 deletions(-) diff --git a/build_depends-humble.repos b/build_depends-humble.repos index 966bd1c01..0054e9667 100644 --- a/build_depends-humble.repos +++ b/build_depends-humble.repos @@ -3,12 +3,3 @@ repositories: type: git url: https://github.com/tier4/sync_tooling_msgs.git version: main - - # TODO(TIER IV): During the transition period of Agnocast introduction, - # the Agnocast ROS packages are provided as a source build. - # Once the transition stabilizes, use the packages released from the official ROS repository. - # Issue: https://github.com/autowarefoundation/autoware/issues/5968 - agnocast: - type: git - url: https://github.com/tier4/agnocast - version: 2.3.1 From b88619f7154f1359d8b70002c6099aa856e9af82 Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 17:31:38 +0900 Subject: [PATCH 2/6] ci: simplify build-and-test setup to use same scripts as differential workflow Signed-off-by: Max SCHMELLER --- .github/workflows/build-and-test.yaml | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 55295fb55..700225d9f 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -45,15 +45,8 @@ jobs: id: get-self-packages uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 - - name: Install ccache - run: sudo apt-get update && sudo apt-get install -y ccache - shell: bash - - - name: Create ccache directory - run: | - mkdir -p ${CCACHE_DIR} - du -sh ${CCACHE_DIR} && ccache -s - shell: bash + - run: ./.github/workflows/scripts/ensure-apt-up-to-date.sh + - run: ./.github/workflows/scripts/setup-ccache.sh - name: Limit ccache size run: | From 7558589d0eae221c83f0d7fb517f97371b72aa96 Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 17:33:31 +0900 Subject: [PATCH 3/6] ci: fix agnocast env var naming (didn't have an effect before) Signed-off-by: Max SCHMELLER --- .github/workflows/build-and-test-differential.yaml | 8 +++++--- .github/workflows/build-and-test.yaml | 10 ++++++---- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index bfee62fdd..3c09c7655 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -12,15 +12,17 @@ jobs: fail-fast: false matrix: rosdistro: [humble, jazzy] - agnocast_enabled: [0, 1] + enable_agnocast: [0, 1] exclude: - rosdistro: jazzy - agnocast_enabled: 1 # Agnocast does not yet support Jazzy + # ros-jazzy-agnocastlib is not yet available on Apt + # (but has already been released to rosdistro) + enable_agnocast: 1 env: CCACHE_DIR: /root/.ccache CC: /usr/lib/ccache/gcc CXX: /usr/lib/ccache/g++ - AGNOCAST_ENABLED: ${{ matrix.agnocast_enabled }} + ENABLE_AGNOCAST: ${{ matrix.enable_agnocast }} steps: - name: Check out repository diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 700225d9f..ccd8c256b 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -15,16 +15,18 @@ jobs: fail-fast: false matrix: rosdistro: [humble, jazzy] - agnocast_enabled: [0, 1] + enable_agnocast: [0, 1] exclude: - rosdistro: jazzy - agnocast_enabled: 1 # Agnocast does not yet support Jazzy + # ros-jazzy-agnocastlib is not yet available on Apt + # (but has already been released to rosdistro) + enable_agnocast: 1 env: CCACHE_DIR: /root/.ccache CCACHE_SIZE: 1G # The GitHub cache action allows for 10G but the runners' disk space is limited CC: /usr/lib/ccache/gcc CXX: /usr/lib/ccache/g++ - AGNOCAST_ENABLED: ${{ matrix.agnocast_enabled }} + ENABLE_AGNOCAST: ${{ matrix.enable_agnocast }} steps: - name: Check out repository @@ -97,7 +99,7 @@ jobs: build-depends-repos: build_depends-${{ matrix.rosdistro }}.repos - name: Upload coverage to CodeCov - if: ${{ steps.test.outputs.coverage-report-files != '' && matrix.agnocast_enabled == 0 }} + if: ${{ steps.test.outputs.coverage-report-files != '' && matrix.enable_agnocast == 0 }} uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} From a68b38f7364d7e40324b095607f4cfe1122b7d0d Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 17:33:51 +0900 Subject: [PATCH 4/6] ci: disable agnocast during test runtime Signed-off-by: Max SCHMELLER --- .github/workflows/build-and-test-differential.yaml | 2 ++ .github/workflows/build-and-test.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 3c09c7655..b6e2bf021 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -70,6 +70,8 @@ jobs: id: test if: steps.build.outcome == 'success' uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + env: + ENABLE_AGNOCAST: 0 with: rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index ccd8c256b..05b57533e 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -93,6 +93,8 @@ jobs: if: ${{ steps.get-self-packages.outputs.self-packages != '' }} id: test uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + env: + ENABLE_AGNOCAST: 0 with: rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-self-packages.outputs.self-packages }} From 001efd8705ee0654f9debea48f459f36cbe0e2cd Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 18:57:01 +0900 Subject: [PATCH 5/6] ci: enable agnocast CI for jazzy Signed-off-by: Max SCHMELLER --- .github/workflows/build-and-test-differential.yaml | 5 ----- .github/workflows/build-and-test.yaml | 5 ----- 2 files changed, 10 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index b6e2bf021..94c8a10d9 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -13,11 +13,6 @@ jobs: matrix: rosdistro: [humble, jazzy] enable_agnocast: [0, 1] - exclude: - - rosdistro: jazzy - # ros-jazzy-agnocastlib is not yet available on Apt - # (but has already been released to rosdistro) - enable_agnocast: 1 env: CCACHE_DIR: /root/.ccache CC: /usr/lib/ccache/gcc diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 05b57533e..b7a0c3cc4 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -16,11 +16,6 @@ jobs: matrix: rosdistro: [humble, jazzy] enable_agnocast: [0, 1] - exclude: - - rosdistro: jazzy - # ros-jazzy-agnocastlib is not yet available on Apt - # (but has already been released to rosdistro) - enable_agnocast: 1 env: CCACHE_DIR: /root/.ccache CCACHE_SIZE: 1G # The GitHub cache action allows for 10G but the runners' disk space is limited From 466fc1ec163916630253c46793217b4b68a0148d Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Thu, 16 Apr 2026 18:59:54 +0900 Subject: [PATCH 6/6] temp: CI trigger Signed-off-by: Max SCHMELLER --- .../nebula_continental/src/continental_ars548_ros_wrapper.cpp | 1 + src/nebula_hesai/nebula_hesai/src/hesai_ros_wrapper.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/nebula_continental/nebula_continental/src/continental_ars548_ros_wrapper.cpp b/src/nebula_continental/nebula_continental/src/continental_ars548_ros_wrapper.cpp index b716d7617..e9a0c2326 100644 --- a/src/nebula_continental/nebula_continental/src/continental_ars548_ros_wrapper.cpp +++ b/src/nebula_continental/nebula_continental/src/continental_ars548_ros_wrapper.cpp @@ -33,6 +33,7 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio "continental_ars548_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)), wrapper_status_(Status::NOT_INITIALIZED) { + // CI trigger setvbuf(stdout, NULL, _IONBF, BUFSIZ); wrapper_status_ = declare_and_get_sensor_config_params(); diff --git a/src/nebula_hesai/nebula_hesai/src/hesai_ros_wrapper.cpp b/src/nebula_hesai/nebula_hesai/src/hesai_ros_wrapper.cpp index 5f92f2407..cea9110ec 100644 --- a/src/nebula_hesai/nebula_hesai/src/hesai_ros_wrapper.cpp +++ b/src/nebula_hesai/nebula_hesai/src/hesai_ros_wrapper.cpp @@ -37,6 +37,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options) diagnostic_updater_general_((declare_parameter("diagnostic_updater.use_fqn", true), this)), diagnostic_updater_functional_safety_(this) { + // CI trigger setvbuf(stdout, nullptr, _IONBF, BUFSIZ); wrapper_status_ = declare_and_get_sensor_config_params();