From 0ac858079e5356b37af744aef668952670cbc619 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Tue, 21 Jan 2025 23:17:11 +0900 Subject: [PATCH] feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (#9941) Signed-off-by: Ryohsuke Mitsudome --- codecov.yaml | 2 +- .../mission_planning.launch.xml | 6 +++--- launch/tier4_planning_launch/package.xml | 2 +- planning/.pages | 2 +- .../plugins/plugin_description.xml | 3 --- .../CHANGELOG.rst | 6 +++--- .../CMakeLists.txt | 10 +++++----- .../README.md | 0 .../config/mission_planner.param.yaml | 0 .../mission_planner_plugin.hpp | 10 +++++----- .../launch/goal_pose_visualizer.launch.xml | 2 +- .../launch/mission_planner.launch.xml | 6 +++--- .../media/architecture.drawio.svg | 0 .../media/goal_footprints.svg | 0 .../media/rerouting_safety.svg | 0 .../media/route_sections.svg | 0 .../package.xml | 4 ++-- .../plugins/plugin_description.xml | 3 +++ .../schema/mission_planner.schema.json | 0 .../goal_pose_visualizer.cpp | 6 +++--- .../goal_pose_visualizer.hpp | 4 ++-- .../src/lanelet2_plugins/default_planner.cpp | 7 ++++--- .../src/lanelet2_plugins/default_planner.hpp | 8 ++++---- .../lanelet2_plugins/utility_functions.cpp | 4 ++-- .../lanelet2_plugins/utility_functions.hpp | 4 ++-- .../src/mission_planner/arrival_checker.cpp | 4 ++-- .../src/mission_planner/arrival_checker.hpp | 4 ++-- .../src/mission_planner/mission_planner.cpp | 13 ++++++------ .../src/mission_planner/mission_planner.hpp | 6 +++--- .../src/mission_planner/route_selector.cpp | 10 +++++----- .../src/mission_planner/route_selector.hpp | 4 ++-- .../src/mission_planner/service_utils.cpp | 0 .../src/mission_planner/service_utils.hpp | 0 .../test_lanelet2_plugins_default_planner.cpp | 4 ++-- .../test/test_utility_functions.cpp | 20 +++++++++---------- 35 files changed, 78 insertions(+), 76 deletions(-) delete mode 100644 planning/autoware_mission_planner/plugins/plugin_description.xml rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/CHANGELOG.rst (98%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/CMakeLists.txt (81%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/README.md (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/config/mission_planner.param.yaml (100%) rename planning/{autoware_mission_planner/include/autoware/mission_planner => autoware_mission_planner_universe/include/autoware/mission_planner_universe}/mission_planner_plugin.hpp (83%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/launch/goal_pose_visualizer.launch.xml (74%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/launch/mission_planner.launch.xml (81%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/media/architecture.drawio.svg (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/media/goal_footprints.svg (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/media/rerouting_safety.svg (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/media/route_sections.svg (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/package.xml (93%) create mode 100644 planning/autoware_mission_planner_universe/plugins/plugin_description.xml rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/schema/mission_planner.schema.json (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/goal_pose_visualizer/goal_pose_visualizer.cpp (88%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/goal_pose_visualizer/goal_pose_visualizer.hpp (93%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/lanelet2_plugins/default_planner.cpp (98%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/lanelet2_plugins/default_planner.hpp (93%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/lanelet2_plugins/utility_functions.cpp (98%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/lanelet2_plugins/utility_functions.hpp (95%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/arrival_checker.cpp (95%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/arrival_checker.hpp (94%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/mission_planner.cpp (98%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/mission_planner.hpp (97%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/route_selector.cpp (97%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/route_selector.hpp (97%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/service_utils.cpp (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/src/mission_planner/service_utils.hpp (100%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/test/test_lanelet2_plugins_default_planner.cpp (99%) rename planning/{autoware_mission_planner => autoware_mission_planner_universe}/test/test_utility_functions.cpp (95%) diff --git a/codecov.yaml b/codecov.yaml index 13054e15f0c99..46d6dd3b5f6b0 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -194,7 +194,7 @@ component_management: - planning/autoware_external_velocity_limit_selector/** - planning/autoware_freespace_planner/** - planning/autoware_freespace_planning_algorithms/** - - planning/autoware_mission_planner/** + - planning/autoware_mission_planner_universe/** # - planning/autoware_objects_of_interest_marker_interface/** - planning/autoware_obstacle_cruise_planner/** # - planning/autoware_obstacle_stop_planner/** diff --git a/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml b/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml index cd33e7517ddc3..c5c4debd80956 100644 --- a/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml @@ -1,11 +1,11 @@ - + - + - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 0a6e9d7fce13a..0acb4738d8068 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -64,7 +64,7 @@ autoware_external_velocity_limit_selector autoware_freespace_planner autoware_glog_component - autoware_mission_planner + autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer diff --git a/planning/.pages b/planning/.pages index 900019198fab8..7444815cdd28a 100644 --- a/planning/.pages +++ b/planning/.pages @@ -39,7 +39,7 @@ nav: - 'About Freespace Planner': planning/autoware_freespace_planner - 'Algorithm': planning/autoware_freespace_planning_algorithms - 'RRT*': planning/autoware_freespace_planning_algorithms/rrtstar - - 'Mission Planner': planning/autoware_mission_planner + - 'Mission Planner': planning/autoware_mission_planner_universe - 'Motion Planning': - 'Path Optimizer': - 'About Path Optimizer': planning/autoware_path_optimizer diff --git a/planning/autoware_mission_planner/plugins/plugin_description.xml b/planning/autoware_mission_planner/plugins/plugin_description.xml deleted file mode 100644 index 488e6afd35df1..0000000000000 --- a/planning/autoware_mission_planner/plugins/plugin_description.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner_universe/CHANGELOG.rst similarity index 98% rename from planning/autoware_mission_planner/CHANGELOG.rst rename to planning/autoware_mission_planner_universe/CHANGELOG.rst index ed21313c96af2..ecbc1c4d7feef 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner_universe/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_mission_planner -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_mission_planner_universe +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.40.0 (2024-12-12) ------------------- diff --git a/planning/autoware_mission_planner/CMakeLists.txt b/planning/autoware_mission_planner_universe/CMakeLists.txt similarity index 81% rename from planning/autoware_mission_planner/CMakeLists.txt rename to planning/autoware_mission_planner_universe/CMakeLists.txt index 939903c2999ff..5c2445c9e2dcf 100644 --- a/planning/autoware_mission_planner/CMakeLists.txt +++ b/planning/autoware_mission_planner_universe/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_mission_planner) +project(autoware_mission_planner_universe) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(goal_pose_visualizer_component SHARED ) rclcpp_components_register_node(goal_pose_visualizer_component - PLUGIN "autoware::mission_planner::GoalPoseVisualizer" + PLUGIN "autoware::mission_planner_universe::GoalPoseVisualizer" EXECUTABLE goal_pose_visualizer ) @@ -21,12 +21,12 @@ ament_auto_add_library(${PROJECT_NAME}_component SHARED ) rclcpp_components_register_node(${PROJECT_NAME}_component - PLUGIN "autoware::mission_planner::MissionPlanner" + PLUGIN "autoware::mission_planner_universe::MissionPlanner" EXECUTABLE mission_planner ) rclcpp_components_register_node(${PROJECT_NAME}_component - PLUGIN "autoware::mission_planner::RouteSelector" + PLUGIN "autoware::mission_planner_universe::RouteSelector" EXECUTABLE route_selector ) @@ -34,7 +34,7 @@ ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED src/lanelet2_plugins/default_planner.cpp src/lanelet2_plugins/utility_functions.cpp ) -pluginlib_export_plugin_description_file(autoware_mission_planner plugins/plugin_description.xml) +pluginlib_export_plugin_description_file(autoware_mission_planner_universe plugins/plugin_description.xml) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} diff --git a/planning/autoware_mission_planner/README.md b/planning/autoware_mission_planner_universe/README.md similarity index 100% rename from planning/autoware_mission_planner/README.md rename to planning/autoware_mission_planner_universe/README.md diff --git a/planning/autoware_mission_planner/config/mission_planner.param.yaml b/planning/autoware_mission_planner_universe/config/mission_planner.param.yaml similarity index 100% rename from planning/autoware_mission_planner/config/mission_planner.param.yaml rename to planning/autoware_mission_planner_universe/config/mission_planner.param.yaml diff --git a/planning/autoware_mission_planner/include/autoware/mission_planner/mission_planner_plugin.hpp b/planning/autoware_mission_planner_universe/include/autoware/mission_planner_universe/mission_planner_plugin.hpp similarity index 83% rename from planning/autoware_mission_planner/include/autoware/mission_planner/mission_planner_plugin.hpp rename to planning/autoware_mission_planner_universe/include/autoware/mission_planner_universe/mission_planner_plugin.hpp index 837ea15a55486..17287db8c8b90 100644 --- a/planning/autoware_mission_planner/include/autoware/mission_planner/mission_planner_plugin.hpp +++ b/planning/autoware_mission_planner_universe/include/autoware/mission_planner_universe/mission_planner_plugin.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_ -#define AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_ +#ifndef AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_ +#define AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_ #include @@ -24,7 +24,7 @@ #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { class PlannerPlugin @@ -45,6 +45,6 @@ class PlannerPlugin virtual void clearRoute() = 0; }; -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe -#endif // AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_ +#endif // AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_ diff --git a/planning/autoware_mission_planner/launch/goal_pose_visualizer.launch.xml b/planning/autoware_mission_planner_universe/launch/goal_pose_visualizer.launch.xml similarity index 74% rename from planning/autoware_mission_planner/launch/goal_pose_visualizer.launch.xml rename to planning/autoware_mission_planner_universe/launch/goal_pose_visualizer.launch.xml index a376bd1da7e58..c6266e71aabbd 100644 --- a/planning/autoware_mission_planner/launch/goal_pose_visualizer.launch.xml +++ b/planning/autoware_mission_planner_universe/launch/goal_pose_visualizer.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner_universe/launch/mission_planner.launch.xml similarity index 81% rename from planning/autoware_mission_planner/launch/mission_planner.launch.xml rename to planning/autoware_mission_planner_universe/launch/mission_planner.launch.xml index c15874118011a..ec20ed0a1318c 100644 --- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml +++ b/planning/autoware_mission_planner_universe/launch/mission_planner.launch.xml @@ -2,10 +2,10 @@ - + - + @@ -16,7 +16,7 @@ - + diff --git a/planning/autoware_mission_planner/media/architecture.drawio.svg b/planning/autoware_mission_planner_universe/media/architecture.drawio.svg similarity index 100% rename from planning/autoware_mission_planner/media/architecture.drawio.svg rename to planning/autoware_mission_planner_universe/media/architecture.drawio.svg diff --git a/planning/autoware_mission_planner/media/goal_footprints.svg b/planning/autoware_mission_planner_universe/media/goal_footprints.svg similarity index 100% rename from planning/autoware_mission_planner/media/goal_footprints.svg rename to planning/autoware_mission_planner_universe/media/goal_footprints.svg diff --git a/planning/autoware_mission_planner/media/rerouting_safety.svg b/planning/autoware_mission_planner_universe/media/rerouting_safety.svg similarity index 100% rename from planning/autoware_mission_planner/media/rerouting_safety.svg rename to planning/autoware_mission_planner_universe/media/rerouting_safety.svg diff --git a/planning/autoware_mission_planner/media/route_sections.svg b/planning/autoware_mission_planner_universe/media/route_sections.svg similarity index 100% rename from planning/autoware_mission_planner/media/route_sections.svg rename to planning/autoware_mission_planner_universe/media/route_sections.svg diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner_universe/package.xml similarity index 93% rename from planning/autoware_mission_planner/package.xml rename to planning/autoware_mission_planner_universe/package.xml index e7cf974b2ba25..73da68c792d6f 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner_universe/package.xml @@ -1,9 +1,9 @@ - autoware_mission_planner + autoware_mission_planner_universe 0.40.0 - The autoware_mission_planner package + The autoware_mission_planner_universe package Takagi, Isamu Kosuke Takeuchi Ryohsuke Mitsudome diff --git a/planning/autoware_mission_planner_universe/plugins/plugin_description.xml b/planning/autoware_mission_planner_universe/plugins/plugin_description.xml new file mode 100644 index 0000000000000..51d560bdfb6c3 --- /dev/null +++ b/planning/autoware_mission_planner_universe/plugins/plugin_description.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/autoware_mission_planner/schema/mission_planner.schema.json b/planning/autoware_mission_planner_universe/schema/mission_planner.schema.json similarity index 100% rename from planning/autoware_mission_planner/schema/mission_planner.schema.json rename to planning/autoware_mission_planner_universe/schema/mission_planner.schema.json diff --git a/planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp b/planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.cpp similarity index 88% rename from planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp rename to planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.cpp index 62a718279a4da..3299646332917 100644 --- a/planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp +++ b/planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.cpp @@ -14,7 +14,7 @@ #include "goal_pose_visualizer.hpp" -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options) : Node("goal_pose_visualizer", node_options) @@ -34,7 +34,7 @@ void GoalPoseVisualizer::echo_back_route_callback( goal_pose.pose = msg->goal_pose; pub_goal_pose_->publish(goal_pose); } -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #include -RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::GoalPoseVisualizer) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner_universe::GoalPoseVisualizer) diff --git a/planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp b/planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.hpp similarity index 93% rename from planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp rename to planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.hpp index 3737597556ce4..33fa5795cca26 100644 --- a/planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp +++ b/planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.hpp @@ -20,7 +20,7 @@ #include #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { class GoalPoseVisualizer : public rclcpp::Node { @@ -35,5 +35,5 @@ class GoalPoseVisualizer : public rclcpp::Node const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr msg); }; -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #endif // GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_ diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.cpp similarity index 98% rename from planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp rename to planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.cpp index 50a6becf2e124..acd2b75fa2e21 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.cpp @@ -41,7 +41,7 @@ #include #include -namespace autoware::mission_planner::lanelet2 +namespace autoware::mission_planner_universe::lanelet2 { void DefaultPlanner::initialize_common(rclcpp::Node * node) @@ -383,8 +383,9 @@ void DefaultPlanner::clearRoute() route_handler_.clearRoute(); } -} // namespace autoware::mission_planner::lanelet2 +} // namespace autoware::mission_planner_universe::lanelet2 #include PLUGINLIB_EXPORT_CLASS( - autoware::mission_planner::lanelet2::DefaultPlanner, autoware::mission_planner::PlannerPlugin) + autoware::mission_planner_universe::lanelet2::DefaultPlanner, + autoware::mission_planner_universe::PlannerPlugin) diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.hpp similarity index 93% rename from planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp rename to planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.hpp index ef5f34d4a3697..5af96e976ef8b 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp +++ b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.hpp @@ -15,7 +15,7 @@ #ifndef LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_ #define LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_ -#include +#include #include #include #include @@ -29,7 +29,7 @@ #include -namespace autoware::mission_planner::lanelet2 +namespace autoware::mission_planner_universe::lanelet2 { struct DefaultPlannerParameters @@ -40,7 +40,7 @@ struct DefaultPlannerParameters bool check_footprint_inside_lanes; }; -class DefaultPlanner : public mission_planner::PlannerPlugin +class DefaultPlanner : public mission_planner_universe::PlannerPlugin { public: DefaultPlanner() : vehicle_info_(), is_graph_ready_(false), param_(), node_(nullptr) {} @@ -101,6 +101,6 @@ class DefaultPlanner : public mission_planner::PlannerPlugin Pose refine_goal_height(const Pose & goal, const RouteSections & route_sections); }; -} // namespace autoware::mission_planner::lanelet2 +} // namespace autoware::mission_planner_universe::lanelet2 #endif // LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_ diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.cpp similarity index 98% rename from planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp rename to planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.cpp index 40bccd118965f..fd6e40ab0566e 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.cpp @@ -25,7 +25,7 @@ #include #include -namespace autoware::mission_planner::lanelet2 +namespace autoware::mission_planner_universe::lanelet2 { autoware::universe_utils::Polygon2d convert_linear_ring_to_polygon( autoware::universe_utils::LinearRing2d footprint) @@ -158,4 +158,4 @@ geometry_msgs::msg::Pose get_closest_centerline_pose( return convertBasicPoint3dToPose(refined_point, lane_yaw); } -} // namespace autoware::mission_planner::lanelet2 +} // namespace autoware::mission_planner_universe::lanelet2 diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.hpp similarity index 95% rename from planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp rename to planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.hpp index 36a2e17fb5ff0..233c8ef08ec23 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.hpp @@ -29,7 +29,7 @@ #include -namespace autoware::mission_planner::lanelet2 +namespace autoware::mission_planner_universe::lanelet2 { using RouteSections = std::vector; @@ -64,5 +64,5 @@ geometry_msgs::msg::Pose get_closest_centerline_pose( const lanelet::ConstLanelets & road_lanelets, const geometry_msgs::msg::Pose & point, autoware::vehicle_info_utils::VehicleInfo vehicle_info); -} // namespace autoware::mission_planner::lanelet2 +} // namespace autoware::mission_planner_universe::lanelet2 #endif // LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_ diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp b/planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.cpp similarity index 95% rename from planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp rename to planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.cpp index 41502d8c3c2c3..37e31a77ab5d5 100644 --- a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.cpp @@ -20,7 +20,7 @@ #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { ArrivalChecker::ArrivalChecker(rclcpp::Node * node) : vehicle_stop_checker_(node) @@ -72,4 +72,4 @@ bool ArrivalChecker::is_arrived(const PoseStamped & pose) const return vehicle_stop_checker_.isVehicleStopped(duration_); } -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp b/planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.hpp similarity index 94% rename from planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp rename to planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.hpp index d2e9a7408b791..9c339fae8ed07 100644 --- a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.hpp @@ -22,7 +22,7 @@ #include #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { class ArrivalChecker @@ -44,6 +44,6 @@ class ArrivalChecker autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_; }; -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #endif // MISSION_PLANNER__ARRIVAL_CHECKER_HPP_ diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp similarity index 98% rename from planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp rename to planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp index b806feded9802..58a081a6d6a2b 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp @@ -32,13 +32,14 @@ #include #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) : Node("mission_planner", options), arrival_checker_(this), - plugin_loader_("autoware_mission_planner", "autoware::mission_planner::PlannerPlugin"), + plugin_loader_( + "autoware_mission_planner_universe", "autoware::mission_planner_universe::PlannerPlugin"), tf_buffer_(get_clock()), tf_listener_(tf_buffer_), odometry_(nullptr), @@ -52,8 +53,8 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) minimum_reroute_length_ = declare_parameter("minimum_reroute_length"); allow_reroute_in_autonomous_mode_ = declare_parameter("allow_reroute_in_autonomous_mode"); - planner_ = - plugin_loader_.createSharedInstance("autoware::mission_planner::lanelet2::DefaultPlanner"); + planner_ = plugin_loader_.createSharedInstance( + "autoware::mission_planner_universe::lanelet2::DefaultPlanner"); planner_->initialize(this); const auto durable_qos = rclcpp::QoS(1).transient_local(); @@ -671,7 +672,7 @@ bool MissionPlanner::check_reroute_safety( accumulated_length, safety_length); return false; } -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #include -RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::MissionPlanner) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner_universe::MissionPlanner) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.hpp similarity index 97% rename from planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp rename to planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.hpp index 18f0d3a9c259d..10288e18c8b2a 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.hpp @@ -18,7 +18,7 @@ #include "arrival_checker.hpp" #include "autoware/universe_utils/ros/polling_subscriber.hpp" -#include +#include #include #include #include @@ -45,7 +45,7 @@ #include #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { using autoware_adapi_v1_msgs::msg::OperationModeState; @@ -150,6 +150,6 @@ class MissionPlanner : public rclcpp::Node pub_processing_time_; }; -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #endif // MISSION_PLANNER__MISSION_PLANNER_HPP_ diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp b/planning/autoware_mission_planner_universe/src/mission_planner/route_selector.cpp similarity index 97% rename from planning/autoware_mission_planner/src/mission_planner/route_selector.cpp rename to planning/autoware_mission_planner_universe/src/mission_planner/route_selector.cpp index ad7daba18dece..b628f90794a44 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/route_selector.cpp @@ -20,7 +20,7 @@ #include #include -namespace autoware::mission_planner::uuid +namespace autoware::mission_planner_universe::uuid { std::array generate_random_id() @@ -40,9 +40,9 @@ UUID generate_if_empty(const UUID & uuid) return result; } -} // namespace autoware::mission_planner::uuid +} // namespace autoware::mission_planner_universe::uuid -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { RouteInterface::RouteInterface(rclcpp::Clock::SharedPtr clock) @@ -309,7 +309,7 @@ ResponseStatus RouteSelector::resume_main_route(ClearRoute::Request::SharedPtr r throw std::logic_error("route_selector: unknown main route request"); } -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #include -RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::RouteSelector) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner_universe::RouteSelector) diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp b/planning/autoware_mission_planner_universe/src/mission_planner/route_selector.hpp similarity index 97% rename from planning/autoware_mission_planner/src/mission_planner/route_selector.hpp rename to planning/autoware_mission_planner_universe/src/mission_planner/route_selector.hpp index 3e52f6962c47e..4b631c05c1f88 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/route_selector.hpp @@ -28,7 +28,7 @@ #include #include -namespace autoware::mission_planner +namespace autoware::mission_planner_universe { using autoware_common_msgs::msg::ResponseStatus; @@ -107,6 +107,6 @@ class RouteSelector : public rclcpp::Node ResponseStatus resume_main_route(ClearRoute::Request::SharedPtr req); }; -} // namespace autoware::mission_planner +} // namespace autoware::mission_planner_universe #endif // MISSION_PLANNER__ROUTE_SELECTOR_HPP_ diff --git a/planning/autoware_mission_planner/src/mission_planner/service_utils.cpp b/planning/autoware_mission_planner_universe/src/mission_planner/service_utils.cpp similarity index 100% rename from planning/autoware_mission_planner/src/mission_planner/service_utils.cpp rename to planning/autoware_mission_planner_universe/src/mission_planner/service_utils.cpp diff --git a/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp b/planning/autoware_mission_planner_universe/src/mission_planner/service_utils.hpp similarity index 100% rename from planning/autoware_mission_planner/src/mission_planner/service_utils.hpp rename to planning/autoware_mission_planner_universe/src/mission_planner/service_utils.hpp diff --git a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp b/planning/autoware_mission_planner_universe/test/test_lanelet2_plugins_default_planner.cpp similarity index 99% rename from planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp rename to planning/autoware_mission_planner_universe/test/test_lanelet2_plugins_default_planner.cpp index 8da26ab851bb4..bbe3b6c40fe47 100644 --- a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp +++ b/planning/autoware_mission_planner_universe/test/test_lanelet2_plugins_default_planner.cpp @@ -40,7 +40,7 @@ using geometry_msgs::msg::Pose; using RoutePoints = std::vector; // inherit DefaultPlanner to access protected methods and make wrapper to private methods -struct DefaultPlanner : public autoware::mission_planner::lanelet2::DefaultPlanner +struct DefaultPlanner : public autoware::mission_planner_universe::lanelet2::DefaultPlanner { // todo(someone): create tests with various kinds of maps void set_default_test_map() { route_handler_.setMap(autoware::test_utils::makeMapBinMsg()); } @@ -83,7 +83,7 @@ class DefaultPlannerTest : public ::testing::Test const auto autoware_test_utils_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); const auto mission_planner_dir = - ament_index_cpp::get_package_share_directory("autoware_mission_planner"); + ament_index_cpp::get_package_share_directory("autoware_mission_planner_universe"); options.arguments( {"--ros-args", "--params-file", autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file", diff --git a/planning/autoware_mission_planner/test/test_utility_functions.cpp b/planning/autoware_mission_planner_universe/test/test_utility_functions.cpp similarity index 95% rename from planning/autoware_mission_planner/test/test_utility_functions.cpp rename to planning/autoware_mission_planner_universe/test/test_utility_functions.cpp index da44a2ad17cf0..a531900d69dc1 100644 --- a/planning/autoware_mission_planner/test/test_utility_functions.cpp +++ b/planning/autoware_mission_planner_universe/test/test_utility_functions.cpp @@ -25,16 +25,16 @@ #include -using autoware::mission_planner::lanelet2::convert_linear_ring_to_polygon; -using autoware::mission_planner::lanelet2::convertBasicPoint3dToPose; -using autoware::mission_planner::lanelet2::convertCenterlineToPoints; -using autoware::mission_planner::lanelet2::exists; -using autoware::mission_planner::lanelet2::get_closest_centerline_pose; -using autoware::mission_planner::lanelet2::insert_marker_array; -using autoware::mission_planner::lanelet2::is_in_lane; -using autoware::mission_planner::lanelet2::is_in_parking_lot; -using autoware::mission_planner::lanelet2::is_in_parking_space; -using autoware::mission_planner::lanelet2::project_goal_to_map; +using autoware::mission_planner_universe::lanelet2::convert_linear_ring_to_polygon; +using autoware::mission_planner_universe::lanelet2::convertBasicPoint3dToPose; +using autoware::mission_planner_universe::lanelet2::convertCenterlineToPoints; +using autoware::mission_planner_universe::lanelet2::exists; +using autoware::mission_planner_universe::lanelet2::get_closest_centerline_pose; +using autoware::mission_planner_universe::lanelet2::insert_marker_array; +using autoware::mission_planner_universe::lanelet2::is_in_lane; +using autoware::mission_planner_universe::lanelet2::is_in_parking_lot; +using autoware::mission_planner_universe::lanelet2::is_in_parking_space; +using autoware::mission_planner_universe::lanelet2::project_goal_to_map; using autoware::vehicle_info_utils::VehicleInfo; using geometry_msgs::msg::Pose;