feat: apply autoware prefix for component_state_monitor and its d…

…ependencies (#9961)

Signed-off-by: Junya Sasaki <[email protected]>
Signed-off-by: Takagi, Isamu <[email protected]>
Signed-off-by: Ryohsuke Mitsudome <[email protected]>
Signed-off-by: Shintaro Sakoda <[email protected]>

launch/tier4_system_launch/launch/system.launch.xml

@@ -72,7 +72,7 @@
 
     <!-- Component State Monitor -->
     <group>
-      <include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
+      <include file="$(find-pkg-share autoware_component_state_monitor)/launch/component_state_monitor.launch.py">
         <arg name="mode" value="$(var run_mode)"/>
         <arg name="file" value="$(var component_state_monitor_topic_path)"/>
       </include>
@@ -92,7 +92,7 @@
 
     <!-- Diagnostic Graph Aggregator -->
     <group>
-      <include file="$(find-pkg-share system_diagnostic_monitor)/launch/system_diagnostic_monitor.launch.xml">
+      <include file="$(find-pkg-share autoware_system_diagnostic_monitor)/launch/system_diagnostic_monitor.launch.xml">
         <arg name="param_file" value="$(var diagnostic_graph_aggregator_param_path)"/>
         <arg name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)"/>
       </include>

launch/tier4_system_launch/package.xml

@@ -11,8 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_component_state_monitor</exec_depend>
   <exec_depend>autoware_system_monitor</exec_depend>
-  <exec_depend>component_state_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/component_state_monitor/CHANGELOG.rst → system/autoware_component_state_monitor/CHANGELOG.rst

@@ -1,6 +1,6 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package component_state_monitor
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_component_state_monitor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.40.0 (2024-12-12)
 -------------------

system/component_state_monitor/CMakeLists.txt → system/autoware_component_state_monitor/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(component_state_monitor)
+project(autoware_component_state_monitor)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_nodes(${PROJECT_NAME}
-  "component_state_monitor::StateMonitor"
+  "autoware::component_state_monitor::StateMonitor"
 )
 
 ament_auto_package(INSTALL_TO_SHARE config launch)

system/component_state_monitor/README.md → system/autoware_component_state_monitor/README.md

@@ -1,4 +1,4 @@
-# component_state_monitor
+# autoware_component_state_monitor
 
 The component state monitor checks the state of each component using topic state monitor.
 This is an implementation for backward compatibility with the AD service state monitor.

system/component_state_monitor/launch/component_state_monitor.launch.py → system/autoware_component_state_monitor/launch/component_state_monitor.launch.py

@@ -39,7 +39,7 @@ def create_topic_monitor_name(row):
 
 def create_topic_monitor_node(row):
     tf_mode = "" if "topic_type" in row["args"] else "_tf"
-    package = FindPackageShare("topic_state_monitor")
+    package = FindPackageShare("autoware_topic_state_monitor")
     include = PathJoinSubstitution([package, f"launch/topic_state_monitor{tf_mode}.launch.xml"])
     diag_name = create_diagnostic_name(row)
     arguments = [("diag_name", diag_name)] + [(k, str(v)) for k, v in row["args"].items()]
@@ -62,8 +62,8 @@ def launch_setup(context, *args, **kwargs):
     component = ComposableNode(
         namespace="component_state_monitor",
         name="component",
-        package="component_state_monitor",
-        plugin="component_state_monitor::StateMonitor",
+        package="autoware_component_state_monitor",
+        plugin="autoware::component_state_monitor::StateMonitor",
         parameters=[{"topic_monitor_names": topic_monitor_names}, topic_monitor_param],
     )
     container = ComposableNodeContainer(

system/component_state_monitor/package.xml → system/autoware_component_state_monitor/package.xml

@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>component_state_monitor</name>
+  <name>autoware_component_state_monitor</name>
   <version>0.40.0</version>
-  <description>The component_state_monitor package</description>
+  <description>The autoware_component_state_monitor package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -15,7 +16,7 @@
   <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
 
-  <exec_depend>topic_state_monitor</exec_depend>
+  <exec_depend>autoware_topic_state_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/component_state_monitor/src/main.cpp → system/autoware_component_state_monitor/src/main.cpp

@@ -18,7 +18,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace component_state_monitor
+namespace autoware::component_state_monitor
 {
 
 // clang-format off
@@ -129,7 +129,7 @@ void StateMonitor::on_diag(const DiagnosticArray::ConstSharedPtr msg)
   }
 }
 
-}  // namespace component_state_monitor
+}  // namespace autoware::component_state_monitor
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(component_state_monitor::StateMonitor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_state_monitor::StateMonitor)

system/component_state_monitor/src/main.hpp → system/autoware_component_state_monitor/src/main.hpp

@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace component_state_monitor
+namespace autoware::component_state_monitor
 {
 
 // clang-format off
@@ -73,6 +73,6 @@ class StateMonitor : public rclcpp::Node
   void on_diag(const DiagnosticArray::ConstSharedPtr msg);
 };
 
-}  // namespace component_state_monitor
+}  // namespace autoware::component_state_monitor
 
 #endif  // MAIN_HPP_

system/autoware_default_adapi/document/autoware-state.md

@@ -3,7 +3,7 @@
 ## Overview
 
 Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility.
-The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor.
+The diagnostic checks that ad_service_state_monitor used to perform have been replaced by autoware_component_state_monitor.
 The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility.
 
 ![autoware-state-architecture](images/autoware-state-architecture.drawio.svg)

system/diagnostic_graph_aggregator/CHANGELOG.rst → system/autoware_diagnostic_graph_aggregator/CHANGELOG.rst

@@ -1,6 +1,6 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package diagnostic_graph_aggregator
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_diagnostic_graph_aggregator
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.40.0 (2024-12-12)
 -------------------

system/diagnostic_graph_aggregator/CMakeLists.txt → system/autoware_diagnostic_graph_aggregator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(diagnostic_graph_aggregator)
+project(autoware_diagnostic_graph_aggregator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -30,8 +30,8 @@ ament_auto_add_library(aggregator SHARED
 target_include_directories(aggregator PRIVATE src/common)
 
 rclcpp_components_register_node(aggregator
-  PLUGIN "diagnostic_graph_aggregator::AggregatorNode"
-  EXECUTABLE aggregator_node
+  PLUGIN "autoware::diagnostic_graph_aggregator::AggregatorNode"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)

system/diagnostic_graph_aggregator/README.md → system/autoware_diagnostic_graph_aggregator/README.md

@@ -1,4 +1,4 @@
-# diagnostic_graph_aggregator
+# autoware_diagnostic_graph_aggregator
 
 ## Overview
 
@@ -66,15 +66,15 @@ This is an example of a diagnostic graph configuration. The configuration can be
 - [module2.yaml](./example/graph/module2.yaml)
 
 ```bash
-ros2 launch diagnostic_graph_aggregator example-main.launch.xml
+ros2 launch autoware_diagnostic_graph_aggregator example-main.launch.xml
 ```
 
 You can reuse the graph by making partial edits. For example, disable hardware checks for simulation.
 
 - [edit.yaml](./example/graph/edit.yaml)
 
 ```bash
-ros2 launch diagnostic_graph_aggregator example-edit.launch.xml
+ros2 launch autoware_diagnostic_graph_aggregator example-edit.launch.xml
 ```
 
 ## Debug tools

system/diagnostic_graph_aggregator/doc/tool/tree.md → system/autoware_diagnostic_graph_aggregator/doc/tool/tree.md

@@ -5,13 +5,13 @@ This tool displays the graph structure of the configuration file in tree format.
 ## Usage
 
 ```bash
-ros2 run diagnostic_graph_aggregator tree <graph-config-path>
+ros2 run autoware_diagnostic_graph_aggregator tree <graph-config-path>
 ```
 
 ## Examples
 
 ```bash
-ros2 run diagnostic_graph_aggregator tree '$(find-pkg-share diagnostic_graph_aggregator)/example/graph/main.yaml'
+ros2 run autoware_diagnostic_graph_aggregator tree '$(find-pkg-share autoware_diagnostic_graph_aggregator)/example/graph/main.yaml'
 ```
 
 ```txt

system/autoware_diagnostic_graph_aggregator/example/example-edit.launch.xml

@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find-pkg-share autoware_diagnostic_graph_aggregator)/launch/aggregator.launch.xml">
+    <arg name="graph_file" value="$(find-pkg-share autoware_diagnostic_graph_aggregator)/example/graph/edit.yaml"/>
+  </include>
+  <executable cmd="python3 $(find-pkg-share autoware_diagnostic_graph_aggregator)/example/dummy-diags.py"/>
+</launch>

system/autoware_diagnostic_graph_aggregator/example/example-main.launch.xml

@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find-pkg-share autoware_diagnostic_graph_aggregator)/launch/aggregator.launch.xml">
+    <arg name="graph_file" value="$(find-pkg-share autoware_diagnostic_graph_aggregator)/example/graph/main.yaml"/>
+  </include>
+  <executable cmd="python3 $(find-pkg-share autoware_diagnostic_graph_aggregator)/example/dummy-diags.py"/>
+</launch>

system/autoware_diagnostic_graph_aggregator/launch/aggregator.launch.xml

@@ -0,0 +1,8 @@
+<launch>
+  <arg name="param_file" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/>
+  <arg name="graph_file"/>
+  <node pkg="autoware_diagnostic_graph_aggregator" exec="autoware_diagnostic_graph_aggregator_node">
+    <param from="$(var param_file)"/>
+    <param name="graph_file" value="$(var graph_file)"/>
+  </node>
+</launch>

system/diagnostic_graph_aggregator/package.xml → system/autoware_diagnostic_graph_aggregator/package.xml

@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>diagnostic_graph_aggregator</name>
+  <name>autoware_diagnostic_graph_aggregator</name>
   <version>0.40.0</version>
   <description>The diagnostic_graph_aggregator package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/diagnostic_graph_aggregator/src/common/graph/config.cpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/config.cpp

@@ -29,7 +29,7 @@
 #include <utility>
 #include <vector>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 std::string resolve_substitution(const std::string & substitution, const TreeData & data)
@@ -309,4 +309,4 @@ FileConfig TreeLoader::construct()
   return config;
 }
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator

system/diagnostic_graph_aggregator/src/common/graph/config.hpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/config.hpp

@@ -23,7 +23,7 @@
 #include <string>
 #include <vector>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 struct PathConfig
@@ -98,6 +98,6 @@ class TreeLoader
   std::vector<FileLoader> files_;
 };
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator
 
 #endif  // COMMON__GRAPH__CONFIG_HPP_

system/diagnostic_graph_aggregator/src/common/graph/data.cpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/data.cpp

@@ -16,7 +16,7 @@
 
 #include <string>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 TreeData TreeData::Load(const std::string & path)
@@ -96,4 +96,4 @@ double TreeData::real(double fail)
   return yaml_.as<double>(fail);
 }
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator

system/diagnostic_graph_aggregator/src/common/graph/data.hpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/data.hpp

@@ -23,7 +23,7 @@
 #include <string>
 #include <vector>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 class TreeData
@@ -51,6 +51,6 @@ class TreeData
   TreePath path_;
 };
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator
 
 #endif  // COMMON__GRAPH__DATA_HPP_

system/diagnostic_graph_aggregator/src/common/graph/error.cpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/error.cpp

@@ -16,7 +16,7 @@
 
 #include <string>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 TreePath::TreePath(const std::string & file)
@@ -57,4 +57,4 @@ std::string TreePath::text() const
   return " (" + file_ + sep + node_ + ")";
 }
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator

system/diagnostic_graph_aggregator/src/common/graph/error.hpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/error.hpp

@@ -18,7 +18,7 @@
 #include <stdexcept>
 #include <string>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 struct TreePath
@@ -127,6 +127,6 @@ struct GraphStructure : public Exception
   using Exception::Exception;
 };
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator
 
 #endif  // COMMON__GRAPH__ERROR_HPP_

system/diagnostic_graph_aggregator/src/common/graph/graph.cpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.cpp

@@ -22,7 +22,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 void Graph::create(const std::string & file, const std::string & id)
@@ -77,4 +77,4 @@ DiagGraphStatus Graph::create_status(const rclcpp::Time & stamp) const
 Graph::Graph() = default;
 Graph::~Graph() = default;
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator

system/diagnostic_graph_aggregator/src/common/graph/graph.hpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/graph.hpp

@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 class Graph
@@ -51,6 +51,6 @@ class Graph
   std::string id_;
 };
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator
 
 #endif  // COMMON__GRAPH__GRAPH_HPP_

system/diagnostic_graph_aggregator/src/common/graph/loader.cpp → system/autoware_diagnostic_graph_aggregator/src/common/graph/loader.cpp

@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace diagnostic_graph_aggregator
+namespace autoware::diagnostic_graph_aggregator
 {
 
 struct UnitLoader::GraphLinks
@@ -190,4 +190,4 @@ std::unique_ptr<NodeUnit> GraphLoader::create_node(const UnitLoader & unit)
   throw UnknownUnitType(unit.data().path(), unit.type());
 }
 
-}  // namespace diagnostic_graph_aggregator
+}  // namespace autoware::diagnostic_graph_aggregator