├── .editorconfig ├── .github ├── CODEOWNERS ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md ├── dependabot.yml ├── msgs_checker.py ├── pull_request_samples │ ├── example_detail.md │ └── example_simple.md └── workflows │ ├── BuildAndRun.yaml │ ├── BuildAndRunJazzy.yaml │ ├── CheckBranchUpToDate.yaml │ ├── CheckLabel.yaml │ ├── CheckMessageDepsUpdate.yaml │ ├── Docker.yaml │ ├── Documentation.yaml │ ├── DocumentationLinkCheck.yaml │ ├── DocumentationLint.yaml │ ├── InterfaceUpdateNotification.yaml │ ├── LineLint.yaml │ ├── PostCheckList.yaml │ ├── Release.yaml │ ├── SimModelUpdateNotification.yaml │ ├── SpellCheck.yaml │ ├── ToolDispatch.yaml │ ├── TrafficSimAPICheck.yaml │ ├── custom_spell.json │ ├── generate_workflow_report.sh │ └── workflow.sh ├── .gitignore ├── .linelint.yml ├── .markdownlint-cli2.jsonc ├── CONTRIBUTING.md ├── Dockerfile ├── Dockerfile.arm64 ├── Dockerfile.traffic_simulator ├── Doxyfile ├── HACKING.md ├── LICENSE ├── README.md ├── codecov.yml ├── common ├── agnocast_wrapper │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ └── agnocast_wrapper_setup_target.cmake │ ├── include │ │ └── agnocast_wrapper │ │ │ └── agnocast_wrapper.hpp │ └── package.xml ├── get_parameter │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── get_parameter │ │ │ └── get_parameter.hpp │ ├── package.xml │ └── src │ │ └── main.cpp ├── math │ ├── arithmetic │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── arithmetic │ │ │ │ └── floating_point │ │ │ │ └── comparison.hpp │ │ └── package.xml │ └── geometry │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ └── geometry │ │ │ ├── bounding_box.hpp │ │ │ ├── distance.hpp │ │ │ ├── intersection │ │ │ ├── collision.hpp │ │ │ └── intersection.hpp │ │ │ ├── plane.hpp │ │ │ ├── polygon │ │ │ ├── line_segment.hpp │ │ │ └── polygon.hpp │ │ │ ├── quaternion │ │ │ ├── direction_to_quaternion.hpp │ │ │ ├── euler_to_quaternion.hpp │ │ │ ├── get_angle_difference.hpp │ │ │ ├── get_normal_vector.hpp │ │ │ ├── get_rotation.hpp │ │ │ ├── get_rotation_matrix.hpp │ │ │ ├── is_like_quaternion.hpp │ │ │ ├── make_quaternion.hpp │ │ │ ├── norm.hpp │ │ │ ├── normalize.hpp │ │ │ ├── operator.hpp │ │ │ ├── quaternion_to_euler.hpp │ │ │ └── slerp.hpp │ │ │ ├── solver │ │ │ └── polynomial_solver.hpp │ │ │ ├── spline │ │ │ ├── catmull_rom_spline.hpp │ │ │ ├── catmull_rom_spline_interface.hpp │ │ │ ├── catmull_rom_subspline.hpp │ │ │ └── hermite_curve.hpp │ │ │ ├── transform.hpp │ │ │ └── vector3 │ │ │ ├── cross_2d.hpp │ │ │ ├── hypot.hpp │ │ │ ├── inner_product.hpp │ │ │ ├── internal_angle.hpp │ │ │ ├── is_like_vector3.hpp │ │ │ ├── norm.hpp │ │ │ ├── normalize.hpp │ │ │ ├── operator.hpp │ │ │ ├── ros_msg_converter.hpp │ │ │ ├── truncate.hpp │ │ │ └── vector3.hpp │ │ ├── package.xml │ │ ├── src │ │ ├── bounding_box.cpp │ │ ├── distance.cpp │ │ ├── intersection │ │ │ ├── collision.cpp │ │ │ └── intersection.cpp │ │ ├── plane.cpp │ │ ├── polygon │ │ │ ├── line_segment.cpp │ │ │ └── polygon.cpp │ │ ├── solver │ │ │ └── polynomial_solver.cpp │ │ ├── spline │ │ │ ├── catmull_rom_spline.cpp │ │ │ ├── catmull_rom_subspline.cpp │ │ │ └── hermite_curve.cpp │ │ ├── transform.cpp │ │ └── vector3 │ │ │ └── ros_msg_converter.cpp │ │ └── test │ │ ├── CMakeLists.txt │ │ └── src │ │ ├── expect_eq_macros.hpp │ │ ├── intersection │ │ ├── CMakeLists.txt │ │ ├── test_collision.cpp │ │ └── test_intersection.cpp │ │ ├── polygon │ │ ├── CMakeLists.txt │ │ ├── test_line_segment.cpp │ │ └── test_polygon.cpp │ │ ├── quaternion │ │ ├── CMakeLists.txt │ │ └── test_quaternion.cpp │ │ ├── solver │ │ ├── CMakeLists.txt │ │ └── test_polynomial_solver.cpp │ │ ├── spline │ │ ├── CMakeLists.txt │ │ ├── test_catmull_rom_spline.cpp │ │ ├── test_catmull_rom_subspline.cpp │ │ └── test_hermite_curve.cpp │ │ ├── test_bounding_box.cpp │ │ ├── test_distance.cpp │ │ ├── test_transform.cpp │ │ ├── test_utils.hpp │ │ └── vector3 │ │ ├── CMakeLists.txt │ │ ├── test_truncate_custom.cpp │ │ ├── test_truncate_msg.cpp │ │ └── test_vector3.cpp ├── scenario_simulator_exception │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── scenario_simulator_exception │ │ │ ├── concatenate.hpp │ │ │ ├── exception.hpp │ │ │ └── fold.hpp │ ├── package.xml │ └── src │ │ └── scenario_simulator_exception.cpp ├── simple_junit │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── simple_junit │ │ │ ├── junit5.hpp │ │ │ ├── test_case.hpp │ │ │ ├── test_result.hpp │ │ │ ├── test_suite.hpp │ │ │ └── test_suites.hpp │ ├── package.xml │ ├── src │ │ └── test_suites.cpp │ └── test │ │ ├── expected │ │ ├── attributes.junit.xml │ │ ├── complex.junit.xml │ │ ├── error.junit.xml │ │ ├── failure.junit.xml │ │ ├── pass.junit.xml │ │ └── testsuites_name.junit.xml │ │ └── src │ │ └── test.cpp └── status_monitor │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── status_monitor │ │ └── status_monitor.hpp │ ├── package.xml │ └── src │ └── status_monitor.cpp ├── dependency_humble.repos ├── docker-bake.hcl ├── docker-entrypoint.sh ├── docs ├── .gitignore ├── .pages ├── README.md ├── __init__.py ├── developer_guide │ ├── .pages │ ├── About.md │ ├── AutowareAPI.md │ ├── BehaviorPlugin.md │ ├── CONTRIBUTING.md │ ├── Communication.md │ ├── ConfiguringLocalizationTopics.md │ ├── ConfiguringPerceptionTopics.md │ ├── ContextGammaPlanner.md │ ├── DistanceCalculation.md │ ├── ErrorCategories.md │ ├── Longitudinal_control.md │ ├── ManualOverrideWithFollowTrajectoryAction.md │ ├── NPCBehavior.md │ ├── OpenSCENARIOSupport.md │ ├── Parameters.md │ ├── SimpleSensorSimulator.md │ ├── SimulationResultFormat.md │ ├── SystemArchitecture.md │ ├── TIERIVScenarioFormatVersion2.md │ ├── TrafficSimulator.md │ ├── VehicleDynamics.md │ ├── ZeroMQ.md │ ├── images │ │ ├── Longitudinal_control │ │ │ └── synchronizedAction.png │ │ └── parameters │ │ │ └── noise_v4.png │ ├── lane_pose_calculation │ │ ├── .pages │ │ ├── GetLongitudinalDistance.md │ │ ├── LanePoseCalculation.md │ │ ├── Spawn.md │ │ └── UpdateFrame.md │ └── uml │ │ ├── autoware_api.pu │ │ ├── sequence.pu │ │ └── whole_architecture.pu ├── image │ ├── autoware.png │ ├── awf_universe.png │ ├── condition_group.png │ ├── cpp_scenario_launch.gif │ ├── cpp_scenario_result.png │ ├── icon.png │ ├── inter_process_communication.drawio │ ├── inter_process_communication.png │ ├── lane_change.gif │ ├── lane_pose_calculation.png │ ├── lanelet_matching.png │ ├── locale_verification.png │ ├── longitudinal_distance.png │ ├── looped_map_routing.png │ ├── random_test_runner_launch.gif │ ├── random_test_runner_result.png │ ├── realtime_factor │ │ ├── panel.png │ │ ├── slider.png │ │ └── video.mp4 │ ├── rviz.png │ ├── rviz_with_rocker.png │ ├── scenario_simulator_with_autoware_architecture_proposal.png │ ├── scenario_test_runner_launch.gif │ ├── scenario_test_runner_result.png │ ├── shortest_typical_routing.png │ ├── simple_demo.png │ ├── simple_sensor_simulator.png │ ├── simple_sensor_simulator_detection_sensor.drawio │ ├── ss2_autoware_build_result.png │ ├── ss2_build_result.png │ ├── what_is_scenario_testing_framework.drawio │ └── what_is_scenario_testing_framework.png ├── release │ ├── .pages │ └── ReleaseNotes.md ├── stylesheet │ ├── extra.css │ └── tierivcolor.css └── user_guide │ ├── .pages │ ├── BuildInstructions.md │ ├── QuickStart.md │ ├── RunWithDocker.md │ ├── ScenarioTips.md │ ├── VisualizingInternalInformation.md │ ├── deprected │ ├── RunWithAutowareArchitectureProposal.md │ └── SimpleDemo.md │ ├── random_test_runner │ ├── .pages │ ├── Design.md │ ├── QuickStart.md │ ├── Usage.md │ └── img │ │ ├── block-diagram.jpg │ │ ├── lanelet.jpg │ │ ├── random-test-runner-launched.png │ │ ├── random_test_runner_awsim.png │ │ └── sequence-diagram.jpg │ ├── scenario_editor │ ├── .pages │ ├── ScenarioEditorUserGuide.md │ └── screenshot02.png │ ├── scenario_test_runner │ ├── .pages │ ├── RealtimeFactor.md │ ├── ScenarioFormatConversion.md │ ├── ScenarioTestRunner.md │ └── Tips.md │ └── simple_sensor_simulator │ └── README.md ├── external ├── concealer │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── concealer │ │ │ ├── autoware_universe.hpp │ │ │ ├── available.hpp │ │ │ ├── continuous_transform_broadcaster.hpp │ │ │ ├── convert.hpp │ │ │ ├── execute.hpp │ │ │ ├── field_operator_application.hpp │ │ │ ├── is_package_exists.hpp │ │ │ ├── launch.hpp │ │ │ ├── legacy_autoware_state.hpp │ │ │ ├── member_detector.hpp │ │ │ ├── path_with_lane_id.hpp │ │ │ ├── publisher.hpp │ │ │ ├── service.hpp │ │ │ ├── subscriber.hpp │ │ │ ├── task_queue.hpp │ │ │ └── visibility.hpp │ ├── package.xml │ ├── src │ │ ├── autoware_universe.cpp │ │ ├── execute.cpp │ │ ├── field_operator_application.cpp │ │ ├── is_package_exists.cpp │ │ ├── path_with_lane_id.cpp │ │ ├── publisher.cpp │ │ └── task_queue.cpp │ └── test │ │ └── normal_distribution.cpp ├── embree_vendor │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ └── package.xml └── zmqpp_vendor │ ├── .github │ └── workflows │ │ ├── BloomRelease.yaml │ │ ├── Build.yaml │ │ └── Release.yaml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── package.xml │ ├── patches │ └── zmqpp_export.patch │ └── zmqpp_vendor-extras.cmake ├── map ├── kashiwanoha_map │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── map │ │ ├── global_map_center.pcd.yaml │ │ ├── lanelet2_map.osm │ │ ├── lanelet2_map_provider.osm.yaml │ │ ├── map.map_publisher.yaml │ │ ├── pointcloud_map.pcd │ │ ├── private_road_and_walkway_ele_fix │ │ │ └── lanelet2_map.osm │ │ └── road_shoulder_added │ │ │ ├── lanelet2_map.osm │ │ │ └── pointcloud_map.pcd │ └── package.xml └── simple_cross_map │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── map │ ├── global_map_center.pcd.yaml │ ├── lanelet2_map.osm │ ├── lanelet2_map_provider.osm.yaml │ ├── map.map_publisher.yaml │ └── pointcloud_map.pcd │ └── package.xml ├── mkdocs.yml ├── mock └── cpp_mock_scenarios │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ └── add_cpp_mock_scenario_test.cmake │ ├── cpp_mock_scenarios_ament_cmake-extras.cmake │ ├── include │ └── cpp_mock_scenarios │ │ ├── catalogs.hpp │ │ └── cpp_scenario_node.hpp │ ├── launch │ └── mock_test.launch.py │ ├── package.xml │ ├── rviz │ └── mock_test.rviz │ └── src │ ├── behavior_plugin │ ├── CMakeLists.txt │ └── load_do_nothing_plugin.cpp │ ├── collision │ ├── CMakeLists.txt │ ├── crashing_npc.cpp │ └── spawn_with_offset.cpp │ ├── cpp_scenario_node.cpp │ ├── crosswalk │ ├── CMakeLists.txt │ ├── parked_at_crosswalk.cpp │ └── stop_at_crosswalk.cpp │ ├── follow_front_entity │ ├── CMakeLists.txt │ ├── accelerate_and_follow.cpp │ └── decelerate_and_follow.cpp │ ├── follow_lane │ ├── CMakeLists.txt │ ├── acquire_position_in_world_frame.cpp │ ├── assign_route_in_world_frame.cpp │ ├── cancel_request.cpp │ └── follow_with_offset.cpp │ ├── follow_trajectory │ ├── CMakeLists.txt │ └── follow_polyline_trajectory_with_do_nothing_plugin.cpp │ ├── lane_change │ ├── CMakeLists.txt │ ├── lanechange_left.cpp │ ├── lanechange_left_with_id.cpp │ ├── lanechange_linear.cpp │ ├── lanechange_linear_lateral_velocity.cpp │ ├── lanechange_linear_time.cpp │ ├── lanechange_longitudinal_distance.cpp │ ├── lanechange_right.cpp │ ├── lanechange_right_with_id.cpp │ └── lanechange_time.cpp │ ├── measurement │ ├── CMakeLists.txt │ ├── get_distance_in_lane_coordinate_distance.cpp │ └── get_distance_to_lane_bound.cpp │ ├── merge │ ├── CMakeLists.txt │ └── merge_left.cpp │ ├── metrics │ ├── CMakeLists.txt │ └── traveled_distance.cpp │ ├── move_backward │ ├── CMakeLists.txt │ └── move_backward.cpp │ ├── pedestrian │ ├── CMakeLists.txt │ └── walk_straight.cpp │ ├── random_scenario │ ├── CMakeLists.txt │ ├── random001.cpp │ └── random_parameters │ │ └── random001.yaml │ ├── respawn_ego │ ├── CMakeLists.txt │ └── respawn_ego.cpp │ ├── spawn │ ├── CMakeLists.txt │ └── spawn_in_map_frame.cpp │ ├── speed_planning │ ├── CMakeLists.txt │ ├── request_speed_change.cpp │ ├── request_speed_change_continuous_false.cpp │ ├── request_speed_change_relative.cpp │ ├── request_speed_change_step.cpp │ ├── request_speed_change_with_limit.cpp │ ├── request_speed_change_with_time_constraint.cpp │ ├── request_speed_change_with_time_constraint_linear.cpp │ └── request_speed_change_with_time_constraint_relative.cpp │ ├── synchronized_action │ ├── CMakeLists.txt │ ├── synchronized_action.cpp │ └── synchronized_action_with_speed.cpp │ ├── traffic_simulation_demo.cpp │ ├── traffic_sink │ ├── CMakeLists.txt │ └── auto_sink_vehicle.cpp │ └── traffic_source │ ├── CMakeLists.txt │ ├── define_traffic_source_delay.cpp │ ├── define_traffic_source_high_rate.cpp │ ├── define_traffic_source_large.cpp │ ├── define_traffic_source_mixed.cpp │ ├── define_traffic_source_multiple.cpp │ ├── define_traffic_source_outside_lane.cpp │ ├── define_traffic_source_pedestrian.cpp │ └── define_traffic_source_vehicle.cpp ├── openscenario ├── openscenario_experimental_catalog │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── vehicle │ │ └── sample_vehicle.yaml ├── openscenario_interpreter │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── default.rviz │ ├── example │ │ └── lane_change.xosc │ ├── features │ ├── include │ │ └── openscenario_interpreter │ │ │ ├── cmath │ │ │ └── hypot.hpp │ │ │ ├── compatibility.hpp │ │ │ ├── console │ │ │ ├── escape_sequence.hpp │ │ │ └── is_console.hpp │ │ │ ├── error.hpp │ │ │ ├── expression.hpp │ │ │ ├── functional │ │ │ ├── curry.hpp │ │ │ ├── equal_to.hpp │ │ │ └── fold.hpp │ │ │ ├── iterator │ │ │ ├── circular_iterator.hpp │ │ │ └── size.hpp │ │ │ ├── name.hpp │ │ │ ├── object.hpp │ │ │ ├── openscenario_interpreter.hpp │ │ │ ├── pointer.hpp │ │ │ ├── posix │ │ │ └── fork_exec.hpp │ │ │ ├── reader │ │ │ ├── attribute.hpp │ │ │ ├── content.hpp │ │ │ ├── element.hpp │ │ │ └── evaluate.hpp │ │ │ ├── record.hpp │ │ │ ├── regex │ │ │ └── function_call_expression.hpp │ │ │ ├── scope.hpp │ │ │ ├── simulator_core.hpp │ │ │ ├── string │ │ │ └── split.hpp │ │ │ ├── syntax │ │ │ ├── absolute_target_lane.hpp │ │ │ ├── absolute_target_speed.hpp │ │ │ ├── acceleration_condition.hpp │ │ │ ├── acquire_position_action.hpp │ │ │ ├── act.hpp │ │ │ ├── action.hpp │ │ │ ├── actors.hpp │ │ │ ├── add_entity_action.hpp │ │ │ ├── assign_controller_action.hpp │ │ │ ├── assign_route_action.hpp │ │ │ ├── axle.hpp │ │ │ ├── axles.hpp │ │ │ ├── boolean.hpp │ │ │ ├── bounding_box.hpp │ │ │ ├── by_entity_condition.hpp │ │ │ ├── by_object_type.hpp │ │ │ ├── by_type.hpp │ │ │ ├── by_value_condition.hpp │ │ │ ├── catalog.hpp │ │ │ ├── catalog_definition.hpp │ │ │ ├── catalog_location.hpp │ │ │ ├── catalog_locations.hpp │ │ │ ├── catalog_reference.hpp │ │ │ ├── center.hpp │ │ │ ├── collision_condition.hpp │ │ │ ├── command.hpp │ │ │ ├── condition.hpp │ │ │ ├── condition_edge.hpp │ │ │ ├── condition_group.hpp │ │ │ ├── controller.hpp │ │ │ ├── controller_action.hpp │ │ │ ├── coordinate_system.hpp │ │ │ ├── custom_command_action.hpp │ │ │ ├── delete_entity_action.hpp │ │ │ ├── deterministic.hpp │ │ │ ├── deterministic_multi_parameter_distribution.hpp │ │ │ ├── deterministic_multi_parameter_distribution_type.hpp │ │ │ ├── deterministic_parameter_distribution.hpp │ │ │ ├── deterministic_single_parameter_distribution.hpp │ │ │ ├── deterministic_single_parameter_distribution_type.hpp │ │ │ ├── dimensions.hpp │ │ │ ├── directional_dimension.hpp │ │ │ ├── directory.hpp │ │ │ ├── distance_condition.hpp │ │ │ ├── distribution_definition.hpp │ │ │ ├── distribution_range.hpp │ │ │ ├── distribution_set.hpp │ │ │ ├── distribution_set_element.hpp │ │ │ ├── dome_image.hpp │ │ │ ├── double.hpp │ │ │ ├── dynamic_constraints.hpp │ │ │ ├── dynamics_dimension.hpp │ │ │ ├── dynamics_shape.hpp │ │ │ ├── entities.hpp │ │ │ ├── entity.hpp │ │ │ ├── entity_action.hpp │ │ │ ├── entity_condition.hpp │ │ │ ├── entity_object.hpp │ │ │ ├── entity_ref.hpp │ │ │ ├── entity_selection.hpp │ │ │ ├── environment.hpp │ │ │ ├── environment_action.hpp │ │ │ ├── event.hpp │ │ │ ├── external_object_reference.hpp │ │ │ ├── file.hpp │ │ │ ├── file_header.hpp │ │ │ ├── fog.hpp │ │ │ ├── follow_trajectory_action.hpp │ │ │ ├── following_mode.hpp │ │ │ ├── fractional_cloud_cover.hpp │ │ │ ├── global_action.hpp │ │ │ ├── histogram.hpp │ │ │ ├── histogram_bin.hpp │ │ │ ├── infrastructure_action.hpp │ │ │ ├── init.hpp │ │ │ ├── init_actions.hpp │ │ │ ├── integer.hpp │ │ │ ├── lane_change_action.hpp │ │ │ ├── lane_change_target.hpp │ │ │ ├── lane_position.hpp │ │ │ ├── lateral_action.hpp │ │ │ ├── license.hpp │ │ │ ├── longitudinal_action.hpp │ │ │ ├── maneuver.hpp │ │ │ ├── maneuver_group.hpp │ │ │ ├── misc_object.hpp │ │ │ ├── misc_object_category.hpp │ │ │ ├── modify_rule.hpp │ │ │ ├── none.hpp │ │ │ ├── normal_distribution.hpp │ │ │ ├── object_controller.hpp │ │ │ ├── object_type.hpp │ │ │ ├── open_scenario.hpp │ │ │ ├── open_scenario_category.hpp │ │ │ ├── orientation.hpp │ │ │ ├── override_controller_value_action.hpp │ │ │ ├── parameter_action.hpp │ │ │ ├── parameter_add_value_rule.hpp │ │ │ ├── parameter_assignment.hpp │ │ │ ├── parameter_assignments.hpp │ │ │ ├── parameter_condition.hpp │ │ │ ├── parameter_declaration.hpp │ │ │ ├── parameter_declarations.hpp │ │ │ ├── parameter_modify_action.hpp │ │ │ ├── parameter_multiply_by_value_rule.hpp │ │ │ ├── parameter_set_action.hpp │ │ │ ├── parameter_type.hpp │ │ │ ├── parameter_value_distribution.hpp │ │ │ ├── parameter_value_distribution_definition.hpp │ │ │ ├── parameter_value_set.hpp │ │ │ ├── pedestrian.hpp │ │ │ ├── pedestrian_category.hpp │ │ │ ├── performance.hpp │ │ │ ├── phase.hpp │ │ │ ├── poisson_distribution.hpp │ │ │ ├── polyline.hpp │ │ │ ├── position.hpp │ │ │ ├── precipitation.hpp │ │ │ ├── precipitation_type.hpp │ │ │ ├── priority.hpp │ │ │ ├── private.hpp │ │ │ ├── private_action.hpp │ │ │ ├── probability_distribution_set.hpp │ │ │ ├── probability_distribution_set_element.hpp │ │ │ ├── properties.hpp │ │ │ ├── property.hpp │ │ │ ├── range.hpp │ │ │ ├── reach_position_condition.hpp │ │ │ ├── reference_context.hpp │ │ │ ├── relative_clearance_condition.hpp │ │ │ ├── relative_distance_condition.hpp │ │ │ ├── relative_distance_type.hpp │ │ │ ├── relative_lane_range.hpp │ │ │ ├── relative_object_position.hpp │ │ │ ├── relative_speed_condition.hpp │ │ │ ├── relative_target_lane.hpp │ │ │ ├── relative_target_speed.hpp │ │ │ ├── relative_world_position.hpp │ │ │ ├── road_condition.hpp │ │ │ ├── road_network.hpp │ │ │ ├── route.hpp │ │ │ ├── route_strategy.hpp │ │ │ ├── routing_action.hpp │ │ │ ├── routing_algorithm.hpp │ │ │ ├── rule.hpp │ │ │ ├── scenario_definition.hpp │ │ │ ├── scenario_object.hpp │ │ │ ├── selected_entities.hpp │ │ │ ├── shape.hpp │ │ │ ├── simulation_time_condition.hpp │ │ │ ├── speed_action.hpp │ │ │ ├── speed_action_target.hpp │ │ │ ├── speed_condition.hpp │ │ │ ├── speed_profile_action.hpp │ │ │ ├── speed_profile_entry.hpp │ │ │ ├── speed_target_value_type.hpp │ │ │ ├── stand_still_condition.hpp │ │ │ ├── stochastic.hpp │ │ │ ├── stochastic_distribution.hpp │ │ │ ├── stochastic_distribution_type.hpp │ │ │ ├── story.hpp │ │ │ ├── storyboard.hpp │ │ │ ├── storyboard_element.hpp │ │ │ ├── storyboard_element_state.hpp │ │ │ ├── storyboard_element_state_condition.hpp │ │ │ ├── storyboard_element_type.hpp │ │ │ ├── string.hpp │ │ │ ├── sun.hpp │ │ │ ├── teleport_action.hpp │ │ │ ├── time_headway_condition.hpp │ │ │ ├── time_of_day.hpp │ │ │ ├── time_reference.hpp │ │ │ ├── time_to_collision_condition.hpp │ │ │ ├── time_to_collision_condition_target.hpp │ │ │ ├── timing.hpp │ │ │ ├── traffic_signal_action.hpp │ │ │ ├── traffic_signal_condition.hpp │ │ │ ├── traffic_signal_controller.hpp │ │ │ ├── traffic_signal_controller_action.hpp │ │ │ ├── traffic_signal_controller_condition.hpp │ │ │ ├── traffic_signal_state.hpp │ │ │ ├── traffic_signal_state_action.hpp │ │ │ ├── traffic_signals.hpp │ │ │ ├── trajectory.hpp │ │ │ ├── trajectory_following_mode.hpp │ │ │ ├── trajectory_ref.hpp │ │ │ ├── transition_dynamics.hpp │ │ │ ├── trigger.hpp │ │ │ ├── triggering_entities.hpp │ │ │ ├── triggering_entities_rule.hpp │ │ │ ├── uniform_distribution.hpp │ │ │ ├── unsigned_integer.hpp │ │ │ ├── unsigned_short.hpp │ │ │ ├── user_defined_action.hpp │ │ │ ├── user_defined_distribution.hpp │ │ │ ├── user_defined_value_condition.hpp │ │ │ ├── value_constraint.hpp │ │ │ ├── value_constraint_group.hpp │ │ │ ├── value_set_distribution.hpp │ │ │ ├── vehicle.hpp │ │ │ ├── vehicle_category.hpp │ │ │ ├── vertex.hpp │ │ │ ├── waypoint.hpp │ │ │ ├── weather.hpp │ │ │ ├── wetness.hpp │ │ │ ├── wind.hpp │ │ │ └── world_position.hpp │ │ │ ├── type_traits │ │ │ ├── has_member_function_accomplished.hpp │ │ │ ├── has_member_function_description.hpp │ │ │ ├── has_member_function_evaluate.hpp │ │ │ ├── has_stream_output_operator.hpp │ │ │ ├── if_has_member_function_accomplished.hpp │ │ │ ├── if_has_member_function_description.hpp │ │ │ ├── if_has_member_function_evaluate.hpp │ │ │ ├── if_has_stream_output_operator.hpp │ │ │ ├── if_not_nothrow_default_constructible.hpp │ │ │ ├── iterable.hpp │ │ │ ├── must_be_default_constructible.hpp │ │ │ ├── requires.hpp │ │ │ └── void_t.hpp │ │ │ └── utility │ │ │ ├── assertion_auxiliary.hpp │ │ │ ├── circular_check.hpp │ │ │ ├── demangle.hpp │ │ │ ├── execution_timer.hpp │ │ │ ├── highlighter.hpp │ │ │ ├── overload.hpp │ │ │ ├── print.hpp │ │ │ ├── variant.hpp │ │ │ └── visibility.hpp │ ├── launch │ │ └── openscenario_interpreter.launch.py │ ├── package.xml │ ├── src │ │ ├── compatibility.cpp │ │ ├── evaluate.cpp │ │ ├── object.cpp │ │ ├── openscenario_interpreter.cpp │ │ ├── openscenario_interpreter_node.cpp │ │ ├── posix │ │ │ └── fork_exec.cpp │ │ ├── reader │ │ │ ├── attribute.cpp │ │ │ └── element.cpp │ │ ├── record.cpp │ │ ├── scope.cpp │ │ ├── syntax │ │ │ ├── absolute_target_lane.cpp │ │ │ ├── absolute_target_speed.cpp │ │ │ ├── acceleration_condition.cpp │ │ │ ├── acquire_position_action.cpp │ │ │ ├── act.cpp │ │ │ ├── action.cpp │ │ │ ├── actors.cpp │ │ │ ├── add_entity_action.cpp │ │ │ ├── assign_controller_action.cpp │ │ │ ├── assign_route_action.cpp │ │ │ ├── axle.cpp │ │ │ ├── axles.cpp │ │ │ ├── boolean.cpp │ │ │ ├── bounding_box.cpp │ │ │ ├── by_entity_condition.cpp │ │ │ ├── by_object_type.cpp │ │ │ ├── by_type.cpp │ │ │ ├── by_value_condition.cpp │ │ │ ├── catalog.cpp │ │ │ ├── catalog_definition.cpp │ │ │ ├── catalog_location.cpp │ │ │ ├── catalog_locations.cpp │ │ │ ├── catalog_reference.cpp │ │ │ ├── center.cpp │ │ │ ├── collision_condition.cpp │ │ │ ├── command.cpp │ │ │ ├── condition.cpp │ │ │ ├── condition_edge.cpp │ │ │ ├── condition_group.cpp │ │ │ ├── controller.cpp │ │ │ ├── controller_action.cpp │ │ │ ├── coordinate_system.cpp │ │ │ ├── custom_command_action.cpp │ │ │ ├── delete_entity_action.cpp │ │ │ ├── deterministic.cpp │ │ │ ├── deterministic_multi_parameter_distribution.cpp │ │ │ ├── deterministic_multi_parameter_distribution_type.cpp │ │ │ ├── deterministic_parameter_distribution.cpp │ │ │ ├── deterministic_single_parameter_distribution.cpp │ │ │ ├── deterministic_single_parameter_distribution_type.cpp │ │ │ ├── dimensions.cpp │ │ │ ├── directory.cpp │ │ │ ├── distance_condition.cpp │ │ │ ├── distribution_definition.cpp │ │ │ ├── distribution_range.cpp │ │ │ ├── distribution_set.cpp │ │ │ ├── distribution_set_element.cpp │ │ │ ├── dome_image.cpp │ │ │ ├── double.cpp │ │ │ ├── dynamic_constraints.cpp │ │ │ ├── dynamics_dimension.cpp │ │ │ ├── dynamics_shape.cpp │ │ │ ├── entities.cpp │ │ │ ├── entity.cpp │ │ │ ├── entity_action.cpp │ │ │ ├── entity_condition.cpp │ │ │ ├── entity_object.cpp │ │ │ ├── entity_selection.cpp │ │ │ ├── environment.cpp │ │ │ ├── environment_action.cpp │ │ │ ├── event.cpp │ │ │ ├── external_object_reference.cpp │ │ │ ├── file.cpp │ │ │ ├── file_header.cpp │ │ │ ├── fog.cpp │ │ │ ├── follow_trajectory_action.cpp │ │ │ ├── following_mode.cpp │ │ │ ├── fractional_cloud_cover.cpp │ │ │ ├── global_action.cpp │ │ │ ├── histogram.cpp │ │ │ ├── histogram_bin.cpp │ │ │ ├── infrastructure_action.cpp │ │ │ ├── init.cpp │ │ │ ├── init_actions.cpp │ │ │ ├── integer.cpp │ │ │ ├── lane_change_action.cpp │ │ │ ├── lane_change_target.cpp │ │ │ ├── lane_position.cpp │ │ │ ├── lateral_action.cpp │ │ │ ├── license.cpp │ │ │ ├── longitudinal_action.cpp │ │ │ ├── maneuver.cpp │ │ │ ├── maneuver_group.cpp │ │ │ ├── misc_object.cpp │ │ │ ├── misc_object_category.cpp │ │ │ ├── modify_rule.cpp │ │ │ ├── normal_distribution.cpp │ │ │ ├── object_controller.cpp │ │ │ ├── object_type.cpp │ │ │ ├── open_scenario.cpp │ │ │ ├── open_scenario_category.cpp │ │ │ ├── orientation.cpp │ │ │ ├── override_controller_value_action.cpp │ │ │ ├── parameter_action.cpp │ │ │ ├── parameter_add_value_rule.cpp │ │ │ ├── parameter_condition.cpp │ │ │ ├── parameter_declaration.cpp │ │ │ ├── parameter_declarations.cpp │ │ │ ├── parameter_modify_action.cpp │ │ │ ├── parameter_multiply_by_value_rule.cpp │ │ │ ├── parameter_set_action.cpp │ │ │ ├── parameter_type.cpp │ │ │ ├── parameter_value_distribution.cpp │ │ │ ├── parameter_value_distribution_definition.cpp │ │ │ ├── parameter_value_set.cpp │ │ │ ├── pedestrian.cpp │ │ │ ├── pedestrian_category.cpp │ │ │ ├── performance.cpp │ │ │ ├── phase.cpp │ │ │ ├── poisson_distribution.cpp │ │ │ ├── polyline.cpp │ │ │ ├── position.cpp │ │ │ ├── precipitation.cpp │ │ │ ├── precipitation_type.cpp │ │ │ ├── priority.cpp │ │ │ ├── private.cpp │ │ │ ├── private_action.cpp │ │ │ ├── probability_distribution_set.cpp │ │ │ ├── probability_distribution_set_element.cpp │ │ │ ├── properties.cpp │ │ │ ├── property.cpp │ │ │ ├── range.cpp │ │ │ ├── reach_position_condition.cpp │ │ │ ├── reference_context.cpp │ │ │ ├── relative_clearance_condition.cpp │ │ │ ├── relative_distance_condition.cpp │ │ │ ├── relative_distance_type.cpp │ │ │ ├── relative_lane_range.cpp │ │ │ ├── relative_object_position.cpp │ │ │ ├── relative_speed_condition.cpp │ │ │ ├── relative_target_lane.cpp │ │ │ ├── relative_target_speed.cpp │ │ │ ├── relative_world_position.cpp │ │ │ ├── road_condition.cpp │ │ │ ├── road_network.cpp │ │ │ ├── route.cpp │ │ │ ├── route_strategy.cpp │ │ │ ├── routing_action.cpp │ │ │ ├── routing_algorithm.cpp │ │ │ ├── rule.cpp │ │ │ ├── scenario_definition.cpp │ │ │ ├── scenario_object.cpp │ │ │ ├── selected_entities.cpp │ │ │ ├── shape.cpp │ │ │ ├── simulation_time_condition.cpp │ │ │ ├── speed_action.cpp │ │ │ ├── speed_action_target.cpp │ │ │ ├── speed_condition.cpp │ │ │ ├── speed_profile_action.cpp │ │ │ ├── speed_profile_entry.cpp │ │ │ ├── speed_target_value_type.cpp │ │ │ ├── stand_still_condition.cpp │ │ │ ├── stochastic.cpp │ │ │ ├── stochastic_distribution.cpp │ │ │ ├── stochastic_distribution_type.cpp │ │ │ ├── story.cpp │ │ │ ├── storyboard.cpp │ │ │ ├── storyboard_element_state.cpp │ │ │ ├── storyboard_element_state_condition.cpp │ │ │ ├── storyboard_element_type.cpp │ │ │ ├── sun.cpp │ │ │ ├── teleport_action.cpp │ │ │ ├── time_headway_condition.cpp │ │ │ ├── time_of_day.cpp │ │ │ ├── time_reference.cpp │ │ │ ├── time_to_collision_condition_target.cpp │ │ │ ├── timing.cpp │ │ │ ├── traffic_signal_action.cpp │ │ │ ├── traffic_signal_condition.cpp │ │ │ ├── traffic_signal_controller.cpp │ │ │ ├── traffic_signal_controller_action.cpp │ │ │ ├── traffic_signal_controller_condition.cpp │ │ │ ├── traffic_signal_state.cpp │ │ │ ├── traffic_signal_state_action.cpp │ │ │ ├── traffic_signals.cpp │ │ │ ├── trajectory.cpp │ │ │ ├── trajectory_following_mode.cpp │ │ │ ├── trajectory_ref.cpp │ │ │ ├── transition_dynamics.cpp │ │ │ ├── trigger.cpp │ │ │ ├── triggering_entities.cpp │ │ │ ├── triggering_entities_rule.cpp │ │ │ ├── uniform_distribution.cpp │ │ │ ├── unsigned_integer.cpp │ │ │ ├── unsigned_short.cpp │ │ │ ├── user_defined_action.cpp │ │ │ ├── user_defined_distribution.cpp │ │ │ ├── user_defined_value_condition.cpp │ │ │ ├── value_constraint.cpp │ │ │ ├── value_constraint_group.cpp │ │ │ ├── value_set_distribution.cpp │ │ │ ├── vehicle.cpp │ │ │ ├── vehicle_category.cpp │ │ │ ├── vertex.cpp │ │ │ ├── waypoint.cpp │ │ │ ├── weather.cpp │ │ │ ├── wetness.cpp │ │ │ ├── wind.cpp │ │ │ └── world_position.cpp │ │ └── utility │ │ │ └── demangle.cpp │ └── test │ │ ├── example.xosc │ │ ├── invalid-1.xosc │ │ ├── lexical-scope.xosc │ │ ├── success.xosc │ │ ├── test_double.cpp │ │ ├── test_parsed_traffic_signal_id.cpp │ │ └── test_syntax.cpp ├── openscenario_interpreter_example │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── count_up.cpp │ │ ├── timeout.cpp │ │ └── uniform_distribution.cpp ├── openscenario_interpreter_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ └── Context.msg │ └── package.xml ├── openscenario_preprocessor │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── openscenario_preprocessor │ │ │ └── openscenario_preprocessor.hpp │ ├── package.xml │ └── src │ │ ├── openscenario_preprocessor.cpp │ │ └── openscenario_preprocessor_node.cpp ├── openscenario_preprocessor_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ ├── CheckDerivativeRemained.srv │ │ ├── Derive.srv │ │ ├── Load.srv │ │ └── SetParameter.srv ├── openscenario_utility │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── openscenario_utility │ │ ├── __init__.py │ │ ├── conversion.py │ │ ├── resources │ │ │ ├── OpenSCENARIO-1.0.xsd │ │ │ ├── OpenSCENARIO-1.1.xsd │ │ │ └── OpenSCENARIO-1.2.xsd │ │ ├── scenario_validation.py │ │ └── validation.py │ └── package.xml └── openscenario_validator │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── openscenario_validator │ │ └── validator.hpp │ ├── package.xml │ ├── schema │ ├── OpenSCENARIO-1.2.xsd │ └── OpenSCENARIO-1.3.xsd │ └── src │ └── validator_command.cpp ├── pyproject.toml ├── rviz_plugins ├── openscenario_visualization │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── icons │ │ └── classes │ │ │ └── ContextPanel.png │ ├── img │ │ └── rviz.png │ ├── include │ │ ├── openscenario_visualization │ │ │ └── context_panel_plugin.hpp │ │ └── openscenario_visualization_condition_groups_plugin │ │ │ ├── jsk_overlay_utils.hpp │ │ │ └── openscenario_visualization_condition_groups_plugin.hpp │ ├── package.xml │ ├── plugins.xml │ └── src │ │ ├── context_panel_plugin.cpp │ │ ├── openscenario_visualization_condition_groups_plugin │ │ ├── jsk_overlay_utils.cpp │ │ └── openscenario_visualization_condition_groups_plugin.cpp │ │ └── ui │ │ └── context_panel_plugin.ui └── real_time_factor_control_rviz_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugins │ └── plugin_description.xml │ └── src │ ├── real_time_factor_slider.cpp │ └── real_time_factor_slider.hpp ├── scenario_simulator_v2 ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── simulation ├── behavior_tree_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── pedestrian_entity_behavior.xml │ │ └── vehicle_entity_behavior.xml │ ├── include │ │ └── behavior_tree_plugin │ │ │ ├── action_node.hpp │ │ │ ├── pedestrian │ │ │ ├── behavior_tree.hpp │ │ │ ├── follow_lane_action.hpp │ │ │ ├── follow_trajectory_sequence │ │ │ │ └── follow_polyline_trajectory_action.hpp │ │ │ ├── pedestrian_action_node.hpp │ │ │ └── walk_straight_action.hpp │ │ │ ├── transition_events │ │ │ ├── logging_event.hpp │ │ │ ├── reset_request_event.hpp │ │ │ ├── transition_event.hpp │ │ │ └── transition_events.hpp │ │ │ └── vehicle │ │ │ ├── behavior_tree.hpp │ │ │ ├── follow_lane_sequence │ │ │ ├── follow_front_entity_action.hpp │ │ │ ├── follow_lane_action.hpp │ │ │ ├── move_backward_action.hpp │ │ │ ├── stop_at_crossing_entity_action.hpp │ │ │ ├── stop_at_stop_line_action.hpp │ │ │ ├── stop_at_traffic_light_action.hpp │ │ │ └── yield_action.hpp │ │ │ ├── follow_trajectory_sequence │ │ │ └── follow_polyline_trajectory_action.hpp │ │ │ ├── lane_change_action.hpp │ │ │ └── vehicle_action_node.hpp │ ├── package.xml │ ├── plugins.xml │ └── src │ │ ├── action_node.cpp │ │ ├── pedestrian │ │ ├── behavior_tree.cpp │ │ ├── follow_lane_action.cpp │ │ ├── follow_trajectory_sequence │ │ │ └── follow_polyline_trajectory_action.cpp │ │ ├── pedestrian_action_node.cpp │ │ └── walk_straight_action.cpp │ │ ├── transition_events │ │ ├── logging_event.cpp │ │ ├── reset_request_event.cpp │ │ └── transition_event.cpp │ │ └── vehicle │ │ ├── behavior_tree.cpp │ │ ├── follow_lane_sequence │ │ ├── follow_front_entity_action.cpp │ │ ├── follow_lane_action.cpp │ │ ├── move_backward_action.cpp │ │ ├── stop_at_crossing_entity_action.cpp │ │ ├── stop_at_stop_line_action.cpp │ │ ├── stop_at_traffic_light_action.cpp │ │ └── yield_action.cpp │ │ ├── follow_trajectory_sequence │ │ └── follow_polyline_trajectory_action.cpp │ │ ├── lane_change_action.cpp │ │ └── vehicle_action_node.cpp ├── context_gamma_planner │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── pedestrian_behavior.xml │ ├── include │ │ └── context_gamma_planner │ │ │ ├── behavior │ │ │ ├── action_node_base.hpp │ │ │ └── pedestrian │ │ │ │ ├── action_node.hpp │ │ │ │ ├── follow_lane_action.hpp │ │ │ │ └── follow_polyline_trajectory_action.hpp │ │ │ ├── orca │ │ │ ├── orca.hpp │ │ │ └── solver.hpp │ │ │ ├── pedestrian_plugin.hpp │ │ │ ├── planner │ │ │ ├── follow_polyline_trajectory_planner_base.hpp │ │ │ ├── goal_planner_base.hpp │ │ │ └── pedestrian │ │ │ │ ├── follow_lane_planner.hpp │ │ │ │ └── follow_polyline_trajectory_planner.hpp │ │ │ └── transition_events │ │ │ ├── logging_event.hpp │ │ │ ├── reset_request_event.hpp │ │ │ ├── transition_event.hpp │ │ │ └── transition_events.hpp │ ├── package.xml │ ├── plugins.xml │ └── src │ │ ├── behavior │ │ ├── action_node_base.cpp │ │ └── pedestrian │ │ │ ├── action_node.cpp │ │ │ ├── follow_lane_action.cpp │ │ │ └── follow_polyline_trajectory_action.cpp │ │ ├── orca │ │ ├── orca.cpp │ │ └── solver.cpp │ │ ├── pedestrian_plugin.cpp │ │ ├── planner │ │ ├── follow_polyline_trajectory_planner_base.cpp │ │ ├── goal_planner_base.cpp │ │ └── pedestrian │ │ │ ├── follow_lane_planner.cpp │ │ │ └── follow_polyline_trajectory_planner.cpp │ │ └── transition_events │ │ ├── logging_event.cpp │ │ ├── reset_request_event.cpp │ │ └── transition_event.cpp ├── do_nothing_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── do_nothing_plugin │ │ │ └── plugin.hpp │ ├── package.xml │ ├── plugins.xml │ └── src │ │ └── plugin.cpp ├── simple_sensor_simulator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── scenario_simulator.rviz │ ├── include │ │ └── simple_sensor_simulator │ │ │ ├── constants.hpp │ │ │ ├── exception.hpp │ │ │ ├── sensor_simulation │ │ │ ├── detection_sensor │ │ │ │ └── detection_sensor.hpp │ │ │ ├── imu │ │ │ │ └── imu_sensor.hpp │ │ │ ├── lidar │ │ │ │ ├── lidar_noise_model_v1.hpp │ │ │ │ ├── lidar_sensor.hpp │ │ │ │ └── raycaster.hpp │ │ │ ├── noise_parameter_selector.hpp │ │ │ ├── occupancy_grid │ │ │ │ ├── grid_traversal.hpp │ │ │ │ ├── occupancy_grid_builder.hpp │ │ │ │ └── occupancy_grid_sensor.hpp │ │ │ ├── primitives │ │ │ │ ├── box.hpp │ │ │ │ └── primitive.hpp │ │ │ ├── sensor_simulation.hpp │ │ │ └── traffic_lights │ │ │ │ └── traffic_lights_detector.hpp │ │ │ ├── simple_sensor_simulator.hpp │ │ │ └── vehicle_simulation │ │ │ ├── ego_entity_simulation.hpp │ │ │ └── vehicle_model │ │ │ ├── sim_model.hpp │ │ │ ├── sim_model_delay_steer_acc.hpp │ │ │ ├── sim_model_delay_steer_acc_geared.hpp │ │ │ ├── sim_model_delay_steer_acc_geared_wo_fall_guard.hpp │ │ │ ├── sim_model_delay_steer_map_acc_geared.hpp │ │ │ ├── sim_model_delay_steer_vel.hpp │ │ │ ├── sim_model_ideal_steer_acc.hpp │ │ │ ├── sim_model_ideal_steer_acc_geared.hpp │ │ │ ├── sim_model_ideal_steer_vel.hpp │ │ │ └── sim_model_interface.hpp │ ├── launch │ │ └── scenario_simulator.launch │ ├── package.xml │ ├── src │ │ ├── sensor_simulation │ │ │ ├── detection_sensor │ │ │ │ └── detection_sensor.cpp │ │ │ ├── imu │ │ │ │ └── imu_sensor.cpp │ │ │ ├── lidar │ │ │ │ ├── lidar_noise_model_v1.cpp │ │ │ │ ├── lidar_sensor.cpp │ │ │ │ └── raycaster.cpp │ │ │ ├── occupancy_grid │ │ │ │ ├── grid_traversal.cpp │ │ │ │ ├── occupancy_grid_builder.cpp │ │ │ │ └── occupancy_grid_sensor.cpp │ │ │ ├── primitives │ │ │ │ ├── box.cpp │ │ │ │ └── primitive.cpp │ │ │ └── sensor_simulation.cpp │ │ ├── simple_sensor_simulator.cpp │ │ ├── simple_sensor_simulator_node.cpp │ │ └── vehicle_simulation │ │ │ ├── ego_entity_simulation.cpp │ │ │ └── vehicle_model │ │ │ ├── sim_model_delay_steer_acc.cpp │ │ │ ├── sim_model_delay_steer_acc_geared.cpp │ │ │ ├── sim_model_delay_steer_acc_geared_wo_fall_guard.cpp │ │ │ ├── sim_model_delay_steer_map_acc_geared.cpp │ │ │ ├── sim_model_delay_steer_vel.cpp │ │ │ ├── sim_model_ideal_steer_acc.cpp │ │ │ ├── sim_model_ideal_steer_acc_geared.cpp │ │ │ ├── sim_model_ideal_steer_vel.cpp │ │ │ └── sim_model_interface.cpp │ └── test │ │ ├── CMakeLists.txt │ │ └── src │ │ ├── sensor_simulation │ │ ├── imu │ │ │ ├── CMakeLists.txt │ │ │ ├── test_imu_sensor.cpp │ │ │ └── test_imu_sensor.hpp │ │ ├── lidar │ │ │ ├── CMakeLists.txt │ │ │ ├── test_lidar_sensor.cpp │ │ │ ├── test_lidar_sensor.hpp │ │ │ ├── test_raycaster.cpp │ │ │ └── test_raycaster.hpp │ │ ├── occupancy_grid │ │ │ ├── CMakeLists.txt │ │ │ ├── test_grid_traversal.cpp │ │ │ └── test_grid_traversal.hpp │ │ └── primitives │ │ │ ├── CMakeLists.txt │ │ │ ├── test_box.cpp │ │ │ ├── test_primitive.cpp │ │ │ ├── test_primitive.hpp │ │ │ └── test_vertex.cpp │ │ ├── utils │ │ ├── expect_eq_macros.hpp │ │ └── helper_functions.hpp │ │ └── vehicle_simulation │ │ ├── CMakeLists.txt │ │ └── test_ego_entity_simulation.cpp ├── simulation_interface │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── simulation_interface │ │ │ ├── constants.hpp │ │ │ ├── conversions.hpp │ │ │ ├── operators.hpp │ │ │ ├── zmq_multi_client.hpp │ │ │ └── zmq_multi_server.hpp │ ├── launch │ │ └── example.launch.py │ ├── package.xml │ ├── proto │ │ ├── autoware_control_msgs.proto │ │ ├── autoware_vehicle_msgs.proto │ │ ├── builtin_interfaces.proto │ │ ├── geometry_msgs.proto │ │ ├── rosgraph_msgs.proto │ │ ├── simulation_api_schema.proto │ │ ├── std_msgs.proto │ │ └── traffic_simulator_msgs.proto │ ├── src │ │ ├── constants.cpp │ │ ├── conversions.cpp │ │ ├── operators.cpp │ │ ├── zmq_multi_client.cpp │ │ └── zmq_multi_server.cpp │ └── test │ │ ├── expect_equal_macros.hpp │ │ └── test_conversions.cpp ├── traffic_simulator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── scenario_simulator_v2.rviz │ ├── include │ │ └── traffic_simulator │ │ │ ├── api │ │ │ ├── api.hpp │ │ │ └── configuration.hpp │ │ │ ├── behavior │ │ │ ├── behavior_plugin_base.hpp │ │ │ ├── follow_trajectory.hpp │ │ │ ├── follow_waypoint_controller.hpp │ │ │ ├── longitudinal_speed_planning.hpp │ │ │ └── route_planner.hpp │ │ │ ├── color_utils │ │ │ └── color_utils.hpp │ │ │ ├── data_type │ │ │ ├── behavior.hpp │ │ │ ├── entity_status.hpp │ │ │ ├── lane_change.hpp │ │ │ ├── lanelet_pose.hpp │ │ │ ├── route_option.hpp │ │ │ ├── routing_configuration.hpp │ │ │ ├── routing_graph_type.hpp │ │ │ └── speed_change.hpp │ │ │ ├── entity │ │ │ ├── ego_entity.hpp │ │ │ ├── entity_base.hpp │ │ │ ├── entity_manager.hpp │ │ │ ├── misc_object_entity.hpp │ │ │ ├── pedestrian_entity.hpp │ │ │ └── vehicle_entity.hpp │ │ │ ├── hdmap_utils │ │ │ ├── cache.hpp │ │ │ └── hdmap_utils.hpp │ │ │ ├── helper │ │ │ ├── helper.hpp │ │ │ ├── ostream_helpers.hpp │ │ │ └── stop_watch.hpp │ │ │ ├── job │ │ │ ├── job.hpp │ │ │ └── job_list.hpp │ │ │ ├── lanelet_wrapper │ │ │ ├── distance.hpp │ │ │ ├── lanelet_loader.hpp │ │ │ ├── lanelet_map.hpp │ │ │ ├── lanelet_wrapper.hpp │ │ │ ├── pose.hpp │ │ │ ├── route.hpp │ │ │ ├── traffic_lights.hpp │ │ │ └── traffic_rules.hpp │ │ │ ├── simulation_clock │ │ │ └── simulation_clock.hpp │ │ │ ├── traffic │ │ │ ├── traffic_controller.hpp │ │ │ ├── traffic_module_base.hpp │ │ │ ├── traffic_sink.hpp │ │ │ └── traffic_source.hpp │ │ │ ├── traffic_lights │ │ │ ├── configurable_rate_updater.hpp │ │ │ ├── traffic_light.hpp │ │ │ ├── traffic_light_marker_publisher.hpp │ │ │ ├── traffic_light_publisher.hpp │ │ │ ├── traffic_lights.hpp │ │ │ └── traffic_lights_base.hpp │ │ │ ├── utils │ │ │ ├── distance.hpp │ │ │ ├── lanelet_map.hpp │ │ │ ├── pose.hpp │ │ │ └── route.hpp │ │ │ └── visualization │ │ │ └── visualization_component.hpp │ ├── package.xml │ ├── src │ │ ├── api │ │ │ └── api.cpp │ │ ├── behavior │ │ │ ├── follow_trajectory.cpp │ │ │ ├── follow_waypoint_controller.cpp │ │ │ ├── longitudinal_speed_planning.cpp │ │ │ └── route_planner.cpp │ │ ├── color_utils │ │ │ └── color_utils.cpp │ │ ├── data_type │ │ │ ├── behavior.cpp │ │ │ ├── entity_status.cpp │ │ │ ├── lane_change.cpp │ │ │ ├── lanelet_pose.cpp │ │ │ ├── routing_graph_type.cpp │ │ │ └── speed_change.cpp │ │ ├── entity │ │ │ ├── ego_entity.cpp │ │ │ ├── entity_base.cpp │ │ │ ├── entity_manager.cpp │ │ │ ├── misc_object_entity.cpp │ │ │ ├── pedestrian_entity.cpp │ │ │ └── vehicle_entity.cpp │ │ ├── hdmap_utils │ │ │ └── hdmap_utils.cpp │ │ ├── helper │ │ │ ├── helper.cpp │ │ │ └── ostream_helpers.cpp │ │ ├── job │ │ │ ├── job.cpp │ │ │ └── job_list.cpp │ │ ├── lanelet_wrapper │ │ │ ├── distance.cpp │ │ │ ├── lanelet_loader.cpp │ │ │ ├── lanelet_map.cpp │ │ │ ├── lanelet_wrapper.cpp │ │ │ ├── pose.cpp │ │ │ ├── route.cpp │ │ │ ├── traffic_lights.cpp │ │ │ └── traffic_rules.cpp │ │ ├── simulation_clock │ │ │ └── simulation_clock.cpp │ │ ├── traffic │ │ │ ├── traffic_controller.cpp │ │ │ ├── traffic_sink.cpp │ │ │ └── traffic_source.cpp │ │ ├── traffic_lights │ │ │ ├── configurable_rate_updater.cpp │ │ │ ├── traffic_light.cpp │ │ │ ├── traffic_light_marker_publisher.cpp │ │ │ ├── traffic_light_publisher.cpp │ │ │ ├── traffic_lights.cpp │ │ │ └── traffic_lights_base.cpp │ │ ├── utils │ │ │ ├── distance.cpp │ │ │ ├── lanelet_map.cpp │ │ │ └── pose.cpp │ │ └── visualization │ │ │ ├── visualization_component.cpp │ │ │ └── visualization_node.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── catalog │ │ ├── LICENSE │ │ └── VehicleCatalog.xosc │ │ ├── map │ │ ├── crossroads_with_stoplines │ │ │ └── lanelet2_map.osm │ │ ├── empty │ │ │ └── lanelet2_map.osm │ │ ├── four_track_highway │ │ │ └── lanelet2_map.osm │ │ ├── intersection │ │ │ └── lanelet2_map.osm │ │ ├── minimal_map │ │ │ └── lanelet2_map.osm │ │ ├── slope │ │ │ └── lanelet2_map.osm │ │ ├── standard_map │ │ │ └── lanelet2_map.osm │ │ └── with_road_shoulder │ │ │ └── lanelet2_map.osm │ │ └── src │ │ ├── behavior │ │ ├── CMakeLists.txt │ │ ├── test_behavior.cpp │ │ ├── test_longitudinal_speed_planner.cpp │ │ └── test_route_planner.cpp │ │ ├── catalogs.hpp │ │ ├── data_type │ │ ├── CMakeLists.txt │ │ └── test_lanelet_pose.cpp │ │ ├── entity │ │ ├── CMakeLists.txt │ │ ├── test_misc_object_entity.cpp │ │ └── test_vehicle_entity.cpp │ │ ├── expect_eq_macros.hpp │ │ ├── hdmap_utils │ │ ├── CMakeLists.txt │ │ └── test_hdmap_utils.cpp │ │ ├── helper │ │ ├── CMakeLists.txt │ │ └── test_helper.cpp │ │ ├── helper_functions.hpp │ │ ├── job │ │ ├── CMakeLists.txt │ │ ├── test_job.cpp │ │ └── test_job_list.cpp │ │ ├── simulation_clock │ │ ├── CMakeLists.txt │ │ └── test_simulation_clock.cpp │ │ ├── traffic_lights │ │ ├── CMakeLists.txt │ │ ├── common_test_fixtures.hpp │ │ ├── helper.hpp │ │ ├── test_traffic_light.cpp │ │ ├── test_traffic_lights.cpp │ │ ├── test_traffic_lights_internal_common.cpp │ │ ├── test_traffic_lights_internal_v2i.cpp │ │ └── test_traffic_lights_internal_v2i_new_architecture.cpp │ │ └── utils │ │ ├── CMakeLists.txt │ │ ├── test_distance.cpp │ │ └── test_pose.cpp └── traffic_simulator_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── ActionStatus.msg │ ├── Axle.msg │ ├── Axles.msg │ ├── BehaviorParameter.msg │ ├── BoundingBox.msg │ ├── DynamicConstraints.msg │ ├── EntityStatus.msg │ ├── EntityStatusWithTrajectory.msg │ ├── EntityStatusWithTrajectoryArray.msg │ ├── EntitySubtype.msg │ ├── EntityType.msg │ ├── LaneletPose.msg │ ├── LaneletPoseAndStatus.msg │ ├── MapPoseAndStatus.msg │ ├── MiscObjectParameters.msg │ ├── Obstacle.msg │ ├── PedestrianParameters.msg │ ├── Performance.msg │ ├── Polyline.msg │ ├── PolylineTrajectory.msg │ ├── TrafficLightArrayV1.msg │ ├── TrafficLightBulbV1.msg │ ├── TrafficLightV1.msg │ ├── VehicleParameters.msg │ ├── Vertex.msg │ └── WaypointsArray.msg │ └── package.xml ├── sonar-project.properties ├── test_runner ├── random_test_runner │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── random_test_runner │ │ │ ├── data_types.hpp │ │ │ ├── file_interactions │ │ │ ├── junit_xml_reporter.hpp │ │ │ └── yaml_test_params_saver.hpp │ │ │ ├── lanelet_utils.hpp │ │ │ ├── metrics │ │ │ ├── almost_standstill_metric.hpp │ │ │ ├── ego_collision_metric.hpp │ │ │ └── goal_reached_metric.hpp │ │ │ ├── random_test_runner.hpp │ │ │ ├── randomizers.hpp │ │ │ ├── test_executor.hpp │ │ │ └── test_randomizer.hpp │ ├── launch │ │ └── random_test.launch.py │ ├── package.xml │ ├── param │ │ └── test.param.yaml │ ├── rviz │ │ └── random_test.rviz │ ├── src │ │ ├── data_types.cpp │ │ ├── lanelet_utils.cpp │ │ ├── random_test_runner.cpp │ │ ├── random_test_runner_node.cpp │ │ └── test_randomizer.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── expect_eq_macros.hpp │ │ ├── map │ │ ├── lanelet2_map.osm │ │ └── with_road_shoulder │ │ │ └── lanelet2_map.osm │ │ ├── test_almost_standstill_metric.cpp │ │ ├── test_data_types.cpp │ │ ├── test_ego_collision_metric.cpp │ │ ├── test_goal_reached_metric.cpp │ │ ├── test_junit_xml_reporter.cpp │ │ ├── test_lanelet_utils.cpp │ │ ├── test_randomizers.cpp │ │ ├── test_test_executor.cpp │ │ ├── test_test_randomizer.cpp │ │ ├── test_utils.hpp │ │ └── test_yaml_test_params_saver.cpp └── scenario_test_runner │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ ├── optional_workflow.txt │ ├── parameters.yaml │ └── workflow.txt │ ├── launch │ ├── replay_bag.launch.py │ └── scenario_test_runner.launch.py │ ├── package.xml │ ├── scenario │ ├── ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml │ ├── ByEntityCondition.EntityCondition.DistanceCondition.yaml │ ├── ByEntityCondition.EntityCondition.DistanceConditionFreespace.yaml │ ├── ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml │ ├── ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml │ ├── ByEntityCondition.EntityCondition.RelativeDistanceCondition.yaml │ ├── ByEntityCondition.EntityCondition.RelativeDistanceConditionFreespace.yaml │ ├── ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml │ ├── ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml │ ├── ByValueCondition.UserDefinedValueCondition.yaml │ ├── ControllerAction.AssignControllerAction.yaml │ ├── CustomCommandAction.FaultInjectionAction.yaml │ ├── CustomCommandAction.PseudoTrafficSignalDetectorConfidenceSetAction@v1.yaml │ ├── CustomCommandAction.RequestToCooperateCommandAction@v1.yaml │ ├── CustomCommandAction.V2ITrafficSignalStateAction.yaml │ ├── EntitySelection │ │ ├── DistanceCondition_RelativeDistanceCondition_ReachPositionCondition.yaml │ │ ├── LaneChangeAction.yaml │ │ ├── SpeedAction_SpeedCondition_AccelerationCondition.yaml │ │ ├── TeleportAction_CollisionCondition_StandStillCondition.yaml │ │ └── TimeHeadwayCondition.yaml │ ├── Environment.yaml │ ├── LateralAction.LaneChangeAction-RoadShoulder.yaml │ ├── LateralAction.LaneChangeAction.yaml │ ├── LongitudinalAction.SpeedAction.yaml │ ├── LongitudinalAction.SpeedProfileAction.yaml │ ├── Property.detectedObjectGroundTruthPublishingDelay.yaml │ ├── Property.detectedObjectMissingProbability.yaml │ ├── Property.detectedObjectPositionStandardDeviation.yaml │ ├── Property.detectedObjectPublishingDelay.yaml │ ├── Property.detectionSensorRange.yaml │ ├── Property.isBlind.yaml │ ├── Property.maxSpeed.yaml │ ├── Property.pointcloudPublishingDelay.yaml │ ├── Property.pointcloudVerticalFieldOfView.yaml │ ├── RoutingAction.AcquirePositionAction-allow_goal_modification.yaml │ ├── RoutingAction.AcquirePositionAction-continuous.yaml │ ├── RoutingAction.AcquirePositionAction.yaml │ ├── RoutingAction.AssignRouteAction-use_lane_ids_for_routing.yaml │ ├── RoutingAction.AssignRouteAction.yaml │ ├── RoutingAction.FollowTrajectoryAction-autoware.yaml │ ├── RoutingAction.FollowTrajectoryAction-override.yaml │ ├── RoutingAction.FollowTrajectoryAction-star.yaml │ ├── RoutingAction.FollowTrajectoryAction-straight-bicycle.yaml │ ├── RoutingAction.FollowTrajectoryAction-straight-pedestrian.yaml │ ├── RoutingAction.FollowTrajectoryAction-straight.yaml │ ├── RoutingAction.FollowTrajectoryAction-zero-distance.yaml │ ├── RoutingAction.FollowTrajectoryAction-zero-time.yaml │ ├── TrafficSignalControllerAction.yaml │ ├── TrafficSignals.yaml │ ├── Visualization.simulation.context.yaml │ ├── all-in-one.yaml │ ├── arm_demo.yaml │ ├── autoware-simple.yaml │ ├── 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