From 0594aa5f819a5950e8e8ab4f89e88e5b60fb68bd Mon Sep 17 00:00:00 2001
From: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Date: Mon, 20 Jan 2025 18:13:59 +0900
Subject: [PATCH 1/2] feat(autoware_static_centerline_generator): rename
 autoware_mission_planner to autoware_mission_planner_universe

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
---
 .../launch/static_centerline_generator.launch.xml         | 2 +-
 planning/autoware_static_centerline_generator/package.xml | 2 +-
 .../src/static_centerline_generator_node.cpp              | 8 ++++----
 .../test/test_static_centerline_generator.test.py         | 2 +-
 .../test/test_static_centerline_generator_launch.test.py  | 2 +-
 5 files changed, 8 insertions(+), 8 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..0e8a86d4 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 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::lanelet2::DefaultPlanner");
+      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",
                 ),
             ),

From 3236f5e91b0385db47885c38fc153b9571ab2c20 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 21 Jan 2025 03:57:04 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../src/static_centerline_generator_node.cpp                  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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 0e8a86d4..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
@@ -452,8 +452,8 @@ std::vector<lanelet::Id> StaticCenterlineGeneratorNode::plan_route(
     // create mission_planner plugin
     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");
+    auto mission_planner = plugin_loader.createSharedInstance(
+      "autoware::mission_planner_universe::lanelet2::DefaultPlanner");
 
     // initialize mission_planner
     auto node = rclcpp::Node("mission_planner");