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refactor(freespace_planner)!: add autoware prefix (autowarefoundation…
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…#7376)

refactor(freespace_planner)!: add autoawre prefix

Signed-off-by: kosuke55 <[email protected]>
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kosuke55 authored Jun 10, 2024
1 parent 40cc412 commit 420c6bd
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Showing 11 changed files with 24 additions and 24 deletions.
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Expand Up @@ -18,7 +18,7 @@
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>

<composable_node pkg="freespace_planner" plugin="freespace_planner::FreespacePlannerNode" name="freespace_planner" namespace="">
<composable_node pkg="autoware_freespace_planner" plugin="autoware::freespace_planner::FreespacePlannerNode" name="freespace_planner" namespace="">
<!-- topic remap -->
<remap from="~/input/route" to="/planning/mission_planning/route"/>
<remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
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2 changes: 1 addition & 1 deletion launch/tier4_planning_launch/package.xml
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Expand Up @@ -61,6 +61,7 @@
<exec_depend>autoware_costmap_generator</exec_depend>
<exec_depend>autoware_external_cmd_selector</exec_depend>
<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
<exec_depend>autoware_freespace_planner</exec_depend>
<exec_depend>autoware_path_optimizer</exec_depend>
<exec_depend>autoware_planning_topic_converter</exec_depend>
<exec_depend>autoware_planning_validator</exec_depend>
Expand All @@ -69,7 +70,6 @@
<exec_depend>autoware_surround_obstacle_checker</exec_depend>
<exec_depend>autoware_velocity_smoother</exec_depend>
<exec_depend>behavior_path_planner</exec_depend>
<exec_depend>freespace_planner</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>mission_planner</exec_depend>
<exec_depend>obstacle_cruise_planner</exec_depend>
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Expand Up @@ -545,4 +545,4 @@ To run this feature, you need to set `parking_lot` to the map, `activate_by_scen
| end_pose_search_end_distance | [m] | double | distance from ego to the end point of the search for the end point in the freespace_pull_out driving lane | 30.0 |
| end_pose_search_interval | [m] | bool | interval to search for the end point in the freespace_pull_out driving lane | 2.0 |

See [freespace_planner](../freespace_planner/README.md) for other parameters.
See [freespace_planner](../autoware_freespace_planner/README.md) for other parameters.
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@@ -1,24 +1,24 @@
cmake_minimum_required(VERSION 3.14)
project(freespace_planner)
project(autoware_freespace_planner)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_library(freespace_planner_node SHARED
src/freespace_planner/freespace_planner_node.cpp
src/autoware_freespace_planner/freespace_planner_node.cpp
)

rclcpp_components_register_node(freespace_planner_node
PLUGIN "freespace_planner::FreespacePlannerNode"
PLUGIN "autoware::freespace_planner::FreespacePlannerNode"
EXECUTABLE freespace_planner
)

if(BUILD_TESTING)
ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
test/test_${PROJECT_NAME}_node_interface.cpp
test/test_freespace_planner_node_interface.cpp
)
target_link_libraries(test_${PROJECT_NAME}
${PROJECT_NAME}_node
freespace_planner_node
)
endif()

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@@ -1,4 +1,4 @@
# The `freespace_planner`
# The `autoware_freespace_planner`

## freespace_planner_node

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Expand Up @@ -28,8 +28,8 @@
* limitations under the License.
*/

#ifndef FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
#define FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
#ifndef AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
#define AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_

#include "tier4_autoware_utils/ros/logger_level_configure.hpp"

Expand Down Expand Up @@ -63,7 +63,7 @@
#include <string>
#include <vector>

namespace freespace_planner
namespace autoware::freespace_planner
{
using autoware::freespace_planning_algorithms::AbstractPlanningAlgorithm;
using autoware::freespace_planning_algorithms::AstarParam;
Expand Down Expand Up @@ -165,6 +165,6 @@ class FreespacePlannerNode : public rclcpp::Node

std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
};
} // namespace freespace_planner
} // namespace autoware::freespace_planner

#endif // FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
#endif // AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
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Expand Up @@ -11,7 +11,7 @@
<!-- vehicle info -->
<arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>

<node pkg="freespace_planner" exec="freespace_planner" name="freespace_planner" output="screen">
<node pkg="autoware_freespace_planner" exec="freespace_planner" name="freespace_planner" output="screen">
<remap from="~/input/route" to="$(var input_route)"/>
<remap from="~/input/occupancy_grid" to="$(var input_occupancy_grid)"/>
<remap from="~/input/scenario" to="$(var input_scenario)"/>
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@@ -1,9 +1,9 @@
<?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>freespace_planner</name>
<name>autoware_freespace_planner</name>
<version>0.1.0</version>
<description>The freespace_planner package</description>
<description>The autoware_freespace_planner package</description>
<maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
<maintainer email="[email protected]">Takamasa Horibe</maintainer>
<maintainer email="[email protected]">Takayuki Murooka</maintainer>
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Expand Up @@ -28,7 +28,7 @@
* limitations under the License.
*/

#include "freespace_planner/freespace_planner_node.hpp"
#include "autoware_freespace_planner/freespace_planner_node.hpp"

#include "autoware_freespace_planning_algorithms/abstract_algorithm.hpp"

Expand Down Expand Up @@ -217,7 +217,7 @@ bool isStopped(

} // namespace

namespace freespace_planner
namespace autoware::freespace_planner
{
FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_options)
: Node("freespace_planner", node_options)
Expand Down Expand Up @@ -583,7 +583,7 @@ void FreespacePlannerNode::initializePlanningAlgorithm()
}
RCLCPP_INFO_STREAM(get_logger(), "initialize planning algorithm: " << algo_name);
}
} // namespace freespace_planner
} // namespace autoware::freespace_planner

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(freespace_planner::FreespacePlannerNode)
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::freespace_planner::FreespacePlannerNode)
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "freespace_planner/freespace_planner_node.hpp"
#include "autoware_freespace_planner/freespace_planner_node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
Expand All @@ -22,7 +22,7 @@

#include <vector>

using freespace_planner::FreespacePlannerNode;
using autoware::freespace_planner::FreespacePlannerNode;
using planning_test_utils::PlanningInterfaceTestManager;

std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
Expand All @@ -41,7 +41,7 @@ std::shared_ptr<FreespacePlannerNode> generateNode()
const auto planning_test_utils_dir =
ament_index_cpp::get_package_share_directory("planning_test_utils");
const auto freespace_planner_dir =
ament_index_cpp::get_package_share_directory("freespace_planner");
ament_index_cpp::get_package_share_directory("autoware_freespace_planner");
node_options.arguments(
{"--ros-args", "--params-file",
planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
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