refactor(path_optimizer, velocity_smoother)!: prefix package and name…

…space with autoware (autowarefoundation#7354) * chore(autoware_velocity_smoother): update namespace Signed-off-by: satoshi-ota <[email protected]> * chore(autoware_path_optimizer): update namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
go-sakayori · Jun 7, 2024 · 1f6c264 · 1f6c264
1 parent e6b56a4
commit 1f6c264
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Showing 47 changed files with 94 additions and 94 deletions.
diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -62,7 +62,7 @@
   <group>
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'path_optimizer'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="autoware_path_optimizer" plugin="autoware_path_optimizer::PathOptimizer" name="path_optimizer" namespace="">
+        <composable_node pkg="autoware_path_optimizer" plugin="autoware::path_optimizer::PathOptimizer" name="path_optimizer" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -27,7 +27,7 @@
     <!-- motion velocity smoother -->
     <group>
       <node_container pkg="rclcpp_components" exec="component_container" name="velocity_smoother_container" namespace="">
-        <composable_node pkg="autoware_velocity_smoother" plugin="autoware_velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
+        <composable_node pkg="autoware_velocity_smoother" plugin="autoware::velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
           <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
           <param from="$(var common_param_path)"/>
           <param from="$(var nearest_search_param_path)"/>

diff --git a/planning/autoware_behavior_velocity_planner/src/node.cpp b/planning/autoware_behavior_velocity_planner/src/node.cpp
@@ -310,7 +310,7 @@ void BehaviorVelocityPlannerNode::onParam()
   // constructed. It would be required if it was a callback. std::lock_guard<std::mutex>
   // lock(mutex_);
   planner_data_.velocity_smoother_ =
-    std::make_unique<autoware_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+    std::make_unique<autoware::velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
   planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m);
 }
 

diff --git a/...elocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp b/...elocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp
@@ -88,7 +88,7 @@ struct PlannerData
   bool is_simulation = false;
 
   // velocity smoother
-  std::shared_ptr<autoware_velocity_smoother::SmootherBase> velocity_smoother_;
+  std::shared_ptr<autoware::velocity_smoother::SmootherBase> velocity_smoother_;
   // route handler
   std::shared_ptr<route_handler::RouteHandler> route_handler_;
   // parameters

diff --git a/planning/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp
@@ -82,7 +82,7 @@ bool smoothPath(
     traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest);
 
   if (external_v_limit) {
-    autoware_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
+    autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
       traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed);
   }
   out_path = motion_utils::convertToPathWithLaneId<TrajectoryPoints>(traj_smoothed);

diff --git a/planning/autoware_path_optimizer/CMakeLists.txt b/planning/autoware_path_optimizer/CMakeLists.txt
@@ -41,7 +41,7 @@ target_include_directories(autoware_path_optimizer
 
 # register node
 rclcpp_components_register_node(autoware_path_optimizer
-  PLUGIN "autoware_path_optimizer::PathOptimizer"
+  PLUGIN "autoware::path_optimizer::PathOptimizer"
   EXECUTABLE path_optimizer_node
 )
 

diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/common_structs.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/common_structs.hpp
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 struct ReferencePoint;
 struct Bounds;
@@ -153,6 +153,6 @@ struct EgoNearestParam
   double dist_threshold{0.0};
   double yaw_threshold{0.0};
 };
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 
 #endif  // AUTOWARE_PATH_OPTIMIZER__COMMON_STRUCTS_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/debug_marker.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/debug_marker.hpp
@@ -25,11 +25,11 @@
 #include <string>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 MarkerArray getDebugMarker(
   const DebugData & debug_data,
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & optimized_points,
   const vehicle_info_util::VehicleInfo & vehicle_info, const bool publish_extra_marker);
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 #endif  // AUTOWARE_PATH_OPTIMIZER__DEBUG_MARKER_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/mpt_optimizer.hpp
@@ -34,7 +34,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 struct Bounds
 {
@@ -308,5 +308,5 @@ class MPTOptimizer
   size_t getNumberOfSlackVariables() const;
   std::optional<double> calcNormalizedAvoidanceCost(const ReferencePoint & ref_point) const;
 };
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 #endif  // AUTOWARE_PATH_OPTIMIZER__MPT_OPTIMIZER_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/node.hpp
@@ -33,7 +33,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 class PathOptimizer : public rclcpp::Node
 {
@@ -141,6 +141,6 @@ class PathOptimizer : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 
 #endif  // AUTOWARE_PATH_OPTIMIZER__NODE_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/replan_checker.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/replan_checker.hpp
@@ -24,7 +24,7 @@
 #include <memory>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 class ReplanChecker
 {
@@ -66,6 +66,6 @@ class ReplanChecker
   bool isPathGoalChanged(
     const PlannerData & planner_data, const std::vector<TrajectoryPoint> & prev_traj_points) const;
 };
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 
 #endif  // AUTOWARE_PATH_OPTIMIZER__REPLAN_CHECKER_HPP_
diff --git a/...ning/autoware_path_optimizer/include/autoware_path_optimizer/state_equation_generator.hpp b/...ning/autoware_path_optimizer/include/autoware_path_optimizer/state_equation_generator.hpp
@@ -22,7 +22,7 @@
 #include <memory>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 struct ReferencePoint;
 
@@ -58,5 +58,5 @@ class StateEquationGenerator
   std::unique_ptr<VehicleModelInterface> vehicle_model_ptr_;
   mutable std::shared_ptr<TimeKeeper> time_keeper_ptr_;
 };
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 #endif  // AUTOWARE_PATH_OPTIMIZER__STATE_EQUATION_GENERATOR_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/type_alias.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/type_alias.hpp
@@ -28,7 +28,7 @@
 #include "tier4_debug_msgs/msg/string_stamped.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 // std_msgs
 using std_msgs::msg::Header;
@@ -45,6 +45,6 @@ using visualization_msgs::msg::MarkerArray;
 // debug
 using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_debug_msgs::msg::StringStamped;
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 
 #endif  // AUTOWARE_PATH_OPTIMIZER__TYPE_ALIAS_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/utils/geometry_utils.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/utils/geometry_utils.hpp
@@ -39,13 +39,13 @@
 namespace tier4_autoware_utils
 {
 template <>
-geometry_msgs::msg::Point getPoint(const autoware_path_optimizer::ReferencePoint & p);
+geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p);
 
 template <>
-geometry_msgs::msg::Pose getPose(const autoware_path_optimizer::ReferencePoint & p);
+geometry_msgs::msg::Pose getPose(const autoware::path_optimizer::ReferencePoint & p);
 }  // namespace tier4_autoware_utils
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace geometry_utils
 {
@@ -68,5 +68,5 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
   const vehicle_info_util::VehicleInfo & vehicle_info,
   const bool use_footprint_polygon_for_outside_drivable_area_check);
 }  // namespace geometry_utils
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 #endif  // AUTOWARE_PATH_OPTIMIZER__UTILS__GEOMETRY_UTILS_HPP_
diff --git a/planning/autoware_path_optimizer/include/autoware_path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware_path_optimizer/utils/trajectory_utils.hpp
@@ -38,16 +38,16 @@
 namespace tier4_autoware_utils
 {
 template <>
-geometry_msgs::msg::Point getPoint(const autoware_path_optimizer::ReferencePoint & p);
+geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p);
 
 template <>
-geometry_msgs::msg::Pose getPose(const autoware_path_optimizer::ReferencePoint & p);
+geometry_msgs::msg::Pose getPose(const autoware::path_optimizer::ReferencePoint & p);
 
 template <>
-double getLongitudinalVelocity(const autoware_path_optimizer::ReferencePoint & p);
+double getLongitudinalVelocity(const autoware::path_optimizer::ReferencePoint & p);
 }  // namespace tier4_autoware_utils
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace trajectory_utils
 {
@@ -214,5 +214,5 @@ void insertStopPoint(
   std::vector<TrajectoryPoint> & traj_points, const geometry_msgs::msg::Pose & input_stop_pose,
   const size_t stop_seg_idx);
 }  // namespace trajectory_utils
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 #endif  // AUTOWARE_PATH_OPTIMIZER__UTILS__TRAJECTORY_UTILS_HPP_
diff --git a/planning/autoware_path_optimizer/src/debug_marker.cpp b/planning/autoware_path_optimizer/src/debug_marker.cpp
@@ -18,7 +18,7 @@
 
 #include "visualization_msgs/msg/marker_array.hpp"
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createDefaultMarker;
@@ -432,4 +432,4 @@ MarkerArray getDebugMarker(
 
   return marker_array;
 }
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp
@@ -29,7 +29,7 @@
 #include <optional>
 #include <tuple>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace
 {
@@ -1783,4 +1783,4 @@ std::optional<double> MPTOptimizer::calcNormalizedAvoidanceCost(
   }
   return std::clamp(-negative_avoidance_cost / mpt_param_.max_avoidance_cost, 0.0, 1.0);
 }
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp
@@ -25,7 +25,7 @@
 #include <chrono>
 #include <limits>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace
 {
@@ -666,7 +666,7 @@ void PathOptimizer::publishDebugData(const Header & header) const
 
   time_keeper_ptr_->toc(__func__, "  ");
 }
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware_path_optimizer::PathOptimizer)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::path_optimizer::PathOptimizer)
diff --git a/planning/autoware_path_optimizer/src/replan_checker.cpp b/planning/autoware_path_optimizer/src/replan_checker.cpp
@@ -21,7 +21,7 @@
 
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 ReplanChecker::ReplanChecker(rclcpp::Node * node, const EgoNearestParam & ego_nearest_param)
 : ego_nearest_param_(ego_nearest_param), logger_(node->get_logger().get_child("replan_checker"))
@@ -212,4 +212,4 @@ bool ReplanChecker::isPathGoalChanged(
 
   return true;
 }
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/src/state_equation_generator.cpp b/planning/autoware_path_optimizer/src/state_equation_generator.cpp
@@ -16,7 +16,7 @@
 
 #include "autoware_path_optimizer/mpt_optimizer.hpp"
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 // state equation: x = B u + W (u includes x_0)
 // NOTE: Originally, x_t+1 = Ad x_t + Bd u + Wd.
@@ -69,4 +69,4 @@ Eigen::VectorXd StateEquationGenerator::predict(
 {
   return mat.B * U + mat.W;
 }
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
@@ -36,7 +36,7 @@
 #include <stack>
 #include <vector>
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace bg = boost::geometry;
 using tier4_autoware_utils::LinearRing2d;
@@ -207,4 +207,4 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
   return false;
 }
 }  // namespace geometry_utils
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp
@@ -36,25 +36,25 @@
 namespace tier4_autoware_utils
 {
 template <>
-geometry_msgs::msg::Point getPoint(const autoware_path_optimizer::ReferencePoint & p)
+geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p)
 {
   return p.pose.position;
 }
 
 template <>
-geometry_msgs::msg::Pose getPose(const autoware_path_optimizer::ReferencePoint & p)
+geometry_msgs::msg::Pose getPose(const autoware::path_optimizer::ReferencePoint & p)
 {
   return p.pose;
 }
 
 template <>
-double getLongitudinalVelocity(const autoware_path_optimizer::ReferencePoint & p)
+double getLongitudinalVelocity(const autoware::path_optimizer::ReferencePoint & p)
 {
   return p.longitudinal_velocity_mps;
 }
 }  // namespace tier4_autoware_utils
 
-namespace autoware_path_optimizer
+namespace autoware::path_optimizer
 {
 namespace trajectory_utils
 {
@@ -242,4 +242,4 @@ void insertStopPoint(
   traj_points.insert(traj_points.begin() + stop_seg_idx + 1, additional_traj_point);
 }
 }  // namespace trajectory_utils
-}  // namespace autoware_path_optimizer
+}  // namespace autoware::path_optimizer
diff --git a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp
@@ -42,7 +42,7 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
      planning_test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
      path_optimizer_dir + "/config/path_optimizer.param.yaml"});
 
-  auto test_target_node = std::make_shared<autoware_path_optimizer::PathOptimizer>(node_options);
+  auto test_target_node = std::make_shared<autoware::path_optimizer::PathOptimizer>(node_options);
 
   // publish necessary topics from test_manager
   test_manager->publishOdometry(test_target_node, "path_optimizer/input/odometry");

diff --git a/...c_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/...c_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
@@ -130,7 +130,7 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
   const auto eb_path_smoother_ptr =
     path_smoother::ElasticBandSmoother(create_node_options()).getElasticBandSmoother();
   const auto mpt_optimizer_ptr =
-    autoware_path_optimizer::PathOptimizer(create_node_options()).getMPTOptimizer();
+    autoware::path_optimizer::PathOptimizer(create_node_options()).getMPTOptimizer();
 
   // NOTE: The optimization is executed every valid_optimized_traj_points_num points.
   constexpr int valid_optimized_traj_points_num = 10;
@@ -158,7 +158,7 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 
     // road collision avoidance by model predictive trajectory in the autoware_path_optimizer
     // package
-    const autoware_path_optimizer::PlannerData planner_data{
+    const autoware::path_optimizer::PlannerData planner_data{
       raw_path.header, smoothed_traj_points, raw_path.left_bound, raw_path.right_bound,
       virtual_ego_pose};
     const auto optimized_traj_points = mpt_optimizer_ptr->optimizeTrajectory(planner_data);

diff --git a/planning/autoware_velocity_smoother/CMakeLists.txt b/planning/autoware_velocity_smoother/CMakeLists.txt
@@ -41,7 +41,7 @@ target_link_libraries(${PROJECT_NAME}_node
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "autoware_velocity_smoother::VelocitySmootherNode"
+  PLUGIN "autoware::velocity_smoother::VelocitySmootherNode"
   EXECUTABLE velocity_smoother_node
 )