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feat(autoware_static_centerline_generator): rename autoware_mission_planner to autoware_mission_planner_universe #195

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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
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2 changes: 1 addition & 1 deletion planning/autoware_static_centerline_generator/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -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>
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

Expand Down Expand Up @@ -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");
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
),
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
),
),
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