From 93dfb1c0ed668b11f3ba5a0bded0c74cec2aff2e Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Wed, 22 Jan 2025 00:32:21 +0900
Subject: [PATCH] feat(autoware_static_centerline_generator): rename
 autoware_mission_planner to autoware_mission_planner_universe (#195)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
---
 .../launch/static_centerline_generator.launch.xml      |  2 +-
 .../autoware_static_centerline_generator/package.xml   |  2 +-
 .../src/static_centerline_generator_node.cpp           | 10 +++++-----
 .../test/test_static_centerline_generator.test.py      |  2 +-
 .../test_static_centerline_generator_launch.test.py    |  2 +-
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
index 62cd5e58..63f0e5a1 100644
--- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
+++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
@@ -35,7 +35,7 @@
   />
   <arg name="path_smoother_param" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml"/>
   <arg name="path_optimizer_param" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml"/>
-  <arg name="mission_planner_param" default="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
+  <arg name="mission_planner_param" default="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner_universe/mission_planner.param.yaml"/>
 
   <!-- Global parameters (for PathFootprint in tier4_planning_rviz_plugin) -->
   <!-- Do not add "group" in order to propagate global parameters -->
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 5a738de2..a46b4966 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -22,7 +22,7 @@
   <depend>autoware_map_loader</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_map_projection_loader</depend>
-  <depend>autoware_mission_planner</depend>
+  <depend>autoware_mission_planner_universe</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
   <depend>autoware_path_optimizer</depend>
diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
index f172e3e0..4190367a 100644
--- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
+++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -32,7 +32,7 @@
 #include "utils.hpp"
 
 #include <autoware/geography_utils/lanelet2_projector.hpp>
-#include <autoware/mission_planner/mission_planner_plugin.hpp>
+#include <autoware/mission_planner_universe/mission_planner_plugin.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <pluginlib/class_loader.hpp>
 
@@ -450,10 +450,10 @@ std::vector<lanelet::Id> StaticCenterlineGeneratorNode::plan_route(
       std::vector<geometry_msgs::msg::Pose>{start_center_pose, end_center_pose};
 
     // create mission_planner plugin
-    auto plugin_loader = pluginlib::ClassLoader<autoware::mission_planner::PlannerPlugin>(
-      "autoware_mission_planner", "autoware::mission_planner::PlannerPlugin");
-    auto mission_planner =
-      plugin_loader.createSharedInstance("autoware::mission_planner::lanelet2::DefaultPlanner");
+    auto plugin_loader = pluginlib::ClassLoader<autoware::mission_planner_universe::PlannerPlugin>(
+      "autoware_mission_planner_universe", "autoware::mission_planner_universe::PlannerPlugin");
+    auto mission_planner = plugin_loader.createSharedInstance(
+      "autoware::mission_planner_universe::lanelet2::DefaultPlanner");
 
     // initialize mission_planner
     auto node = rclcpp::Node("mission_planner");
diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
index ab59481d..38bc7829 100644
--- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
@@ -45,7 +45,7 @@ def generate_test_description():
             {"start_lanelet_id": 215},
             {"end_lanelet_id": 216},
             os.path.join(
-                get_package_share_directory("autoware_mission_planner"),
+                get_package_share_directory("autoware_mission_planner_universe"),
                 "config",
                 "mission_planner.param.yaml",
             ),
diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py
index f9ca9aff..2ac0c540 100644
--- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py
+++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py
@@ -92,7 +92,7 @@ def generate_test_description():
             DeclareLaunchArgument(
                 "mission_planner_param",
                 default_value=os.path.join(
-                    get_package_share_directory("autoware_mission_planner"),
+                    get_package_share_directory("autoware_mission_planner_universe"),
                     "config/mission_planner.param.yaml",
                 ),
             ),