diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 1ee1d82297baf..b241c8c45bb3e 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,9 +1,9 @@
### Automatically generated from package.xml ###
common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-common/autoware_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
+common/autoware_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
common/autoware_point_types/** taichi.higashide@tier4.jp
common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
@@ -44,23 +44,23 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo
common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
-control/autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-control/joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-control/lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp
+control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp
control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
-control/pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
control/predicted_path_checker/** berkay@leodrive.ai
control/pure_pursuit/** takamasa.horibe@tier4.jp
control/shift_decider/** takamasa.horibe@tier4.jp
-control/smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
+control/autoware_smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
evaluator/control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp
evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp
evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -144,23 +144,32 @@ perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong
perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp
+planning/autoware_behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
+planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
-planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
-planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
-planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp
planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
planning/behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
-planning/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
planning/behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
planning/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
@@ -169,43 +178,39 @@ planning/behavior_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp
planning/behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
-planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
-planning/path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
+planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
planning/planning_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
-planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
planning/planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
planning/route_handler/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp
planning/rtc_interface/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp
planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp
-planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp
-planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp
-planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp
-planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp
-planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/autoware_surround_obstacle_checker/** satoshi.ota@tier4.jp
+planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
+planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
+planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
+planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp
+planning/autoware_scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_surround_obstacle_checker/** go.sakayori@tier4.jp satoshi.ota@tier4.jp
sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp
sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
sensing/livox/livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
-sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
@@ -240,9 +245,10 @@ system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp
system/velodyne_monitor/** fumihito.ito@tier4.jp
tools/reaction_analyzer/** berkay@leodrive.ai
vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
+vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp
vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
-vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
+vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
### Copied from .github/CODEOWNERS-manual ###
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index fb98d321fde88..6745976aa543a 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -74,40 +74,3 @@ jobs:
- name: Show disk space after the tasks
run: df -h
-
- clang-tidy-differential:
- runs-on: ubuntu-latest
- container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
- steps:
- - name: Check out repository
- uses: actions/checkout@v4
- with:
- fetch-depth: 0
-
- - name: Show disk space before the tasks
- run: df -h
-
- - name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
- - name: Get modified packages
- id: get-modified-packages
- uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
- - name: Get modified files
- id: get-modified-files
- uses: tj-actions/changed-files@v35
- with:
- files: |
- **/*.cpp
- **/*.hpp
-
- - name: Run clang-tidy
- if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
- uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
- with:
- rosdistro: humble
- target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
- clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
- build-depends-repos: build_depends.repos
diff --git a/.github/workflows/clang-tidy-differential.yaml b/.github/workflows/clang-tidy-differential.yaml
new file mode 100644
index 0000000000000..26c5314d4b119
--- /dev/null
+++ b/.github/workflows/clang-tidy-differential.yaml
@@ -0,0 +1,53 @@
+name: clang-tidy-differential
+
+on:
+ pull_request:
+ types:
+ - opened
+ - synchronize
+ - labeled
+
+jobs:
+ prevent-no-label-execution:
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+ with:
+ label: tag:run-clang-tidy-differential
+
+ clang-tidy-differential:
+ needs: prevent-no-label-execution
+ if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+ runs-on: ubuntu-latest
+ container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+ steps:
+ - name: Check out repository
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Show disk space before the tasks
+ run: df -h
+
+ - name: Remove exec_depend
+ uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+ - name: Get modified packages
+ id: get-modified-packages
+ uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+ - name: Get modified files
+ id: get-modified-files
+ uses: tj-actions/changed-files@v35
+ with:
+ files: |
+ **/*.cpp
+ **/*.hpp
+
+ - name: Run clang-tidy
+ if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+ uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+ with:
+ rosdistro: humble
+ target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+ target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+ clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+ build-depends-repos: build_depends.repos
diff --git a/common/global_parameter_loader/launch/global_params.launch.py b/common/global_parameter_loader/launch/global_params.launch.py
index 06f807aaa4609..8f9092b10fa37 100644
--- a/common/global_parameter_loader/launch/global_params.launch.py
+++ b/common/global_parameter_loader/launch/global_params.launch.py
@@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
load_vehicle_info = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- [FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
+ [FindPackageShare("autoware_vehicle_info_utils"), "/launch/vehicle_info.launch.py"]
),
launch_arguments={
"vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]
diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml
index 4c2568b9aec98..472ef0c063430 100644
--- a/common/global_parameter_loader/package.xml
+++ b/common/global_parameter_loader/package.xml
@@ -10,7 +10,7 @@
ament_cmake_auto
autoware_cmake
- vehicle_info_util
+ autoware_vehicle_info_utils
ament_lint_auto
autoware_lint_common
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
index b842261d56cfa..20b67ed13dfb5 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
+++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
@@ -27,6 +27,14 @@ namespace tier4_autoware_utils
template
class InterProcessPollingSubscriber
{
+public:
+ using SharedPtr = std::shared_ptr>;
+ static SharedPtr create_subscription(
+ rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+ {
+ return std::make_shared>(node, topic_name, qos);
+ }
+
private:
typename rclcpp::Subscription::SharedPtr subscriber_;
typename T::SharedPtr data_;
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
index ffc845575a76f..96b1cc6ea6ccc 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
+++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
@@ -48,8 +48,9 @@ class TransformListener
try {
tf = tf_buffer_->lookupTransform(from, to, tf2::TimePointZero);
} catch (tf2::TransformException & ex) {
- RCLCPP_WARN(
- logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+ RCLCPP_WARN_THROTTLE(
+ logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+ to.c_str(), ex.what());
return {};
}
@@ -64,8 +65,9 @@ class TransformListener
try {
tf = tf_buffer_->lookupTransform(from, to, time, duration);
} catch (tf2::TransformException & ex) {
- RCLCPP_WARN(
- logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+ RCLCPP_WARN_THROTTLE(
+ logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+ to.c_str(), ex.what());
return {};
}
diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
index f2482b2d45a3b..1c1c4ad6d8ba1 100644
--- a/common/tier4_localization_rviz_plugin/package.xml
+++ b/common/tier4_localization_rviz_plugin/package.xml
@@ -11,6 +11,7 @@
ament_cmake_auto
autoware_cmake
+ autoware_vehicle_info_utils
geometry_msgs
libqt5-core
libqt5-gui
@@ -20,7 +21,6 @@
rviz_common
rviz_default_plugins
tf2_ros
- vehicle_info_util
ament_lint_auto
autoware_lint_common
diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
index c4233bd6305e3..cd32df498bfd4 100644
--- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
+++ b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
@@ -172,7 +172,7 @@ void PoseHistoryFootprint::updateFootprint()
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared(
- VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+ VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_THROTTLE(
diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
index d957054bd479e..44625ad7deb41 100644
--- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
+++ b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
@@ -15,8 +15,8 @@
#ifndef POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
#define POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
+#include
#include
-#include
#include
@@ -39,8 +39,8 @@ class BoolProperty;
namespace rviz_plugins
{
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
class PoseHistoryFootprint
: public rviz_common::MessageFilterDisplay
diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
index ed79e122c0a01..9cb710c239029 100644
--- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
+++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
@@ -15,6 +15,7 @@
#ifndef TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
#define TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
+#include
#include
#include
#include
@@ -25,7 +26,6 @@
#include
#include
#include
-#include
#include
@@ -97,8 +97,8 @@ bool validateFloats(const typename T::ConstSharedPtr & msg_ptr)
namespace rviz_plugins
{
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
template
class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay
{
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index 5d755d212c859..95edcb7a96c56 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -12,6 +12,7 @@
autoware_cmake
autoware_planning_msgs
+ autoware_vehicle_info_utils
libqt5-core
libqt5-gui
libqt5-widgets
@@ -25,7 +26,6 @@
tf2_ros
tier4_autoware_utils
tier4_planning_msgs
- vehicle_info_util
ament_lint_auto
autoware_lint_common
diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/common/tier4_planning_rviz_plugin/src/path/display.cpp
index 4a297b47bcfcc..342e72d66c5f9 100644
--- a/common/tier4_planning_rviz_plugin/src/path/display.cpp
+++ b/common/tier4_planning_rviz_plugin/src/path/display.cpp
@@ -31,7 +31,7 @@ void AutowarePathWithLaneIdDisplay::preProcessMessageDetail()
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared(
- VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+ VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_ONCE(
@@ -107,7 +107,7 @@ void AutowarePathDisplay::preProcessMessageDetail()
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared(
- VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+ VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_ONCE(
@@ -124,7 +124,7 @@ void AutowareTrajectoryDisplay::preProcessMessageDetail()
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared(
- VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+ VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_ONCE(
diff --git a/control/autonomous_emergency_braking/CMakeLists.txt b/control/autoware_autonomous_emergency_braking/CMakeLists.txt
similarity index 92%
rename from control/autonomous_emergency_braking/CMakeLists.txt
rename to control/autoware_autonomous_emergency_braking/CMakeLists.txt
index 53a629fafa0cc..7f38e4387b452 100644
--- a/control/autonomous_emergency_braking/CMakeLists.txt
+++ b/control/autoware_autonomous_emergency_braking/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
-project(autonomous_emergency_braking)
+project(autoware_autonomous_emergency_braking)
find_package(autoware_cmake REQUIRED)
autoware_package()
diff --git a/control/autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md
similarity index 100%
rename from control/autonomous_emergency_braking/README.md
rename to control/autoware_autonomous_emergency_braking/README.md
diff --git a/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
similarity index 100%
rename from control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
rename to control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
diff --git a/control/autonomous_emergency_braking/image/obstacle_filtering_1.drawio.svg b/control/autoware_autonomous_emergency_braking/image/obstacle_filtering_1.drawio.svg
similarity index 100%
rename from control/autonomous_emergency_braking/image/obstacle_filtering_1.drawio.svg
rename to control/autoware_autonomous_emergency_braking/image/obstacle_filtering_1.drawio.svg
diff --git a/control/autonomous_emergency_braking/image/obstacle_filtering_2.drawio.svg b/control/autoware_autonomous_emergency_braking/image/obstacle_filtering_2.drawio.svg
similarity index 100%
rename from control/autonomous_emergency_braking/image/obstacle_filtering_2.drawio.svg
rename to control/autoware_autonomous_emergency_braking/image/obstacle_filtering_2.drawio.svg
diff --git a/control/autonomous_emergency_braking/image/range.drawio.svg b/control/autoware_autonomous_emergency_braking/image/range.drawio.svg
similarity index 100%
rename from control/autonomous_emergency_braking/image/range.drawio.svg
rename to control/autoware_autonomous_emergency_braking/image/range.drawio.svg
diff --git a/control/autonomous_emergency_braking/image/rss_check.drawio.svg b/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg
similarity index 100%
rename from control/autonomous_emergency_braking/image/rss_check.drawio.svg
rename to control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg
diff --git a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp
similarity index 97%
rename from control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
rename to control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp
index 81ab2ecff790b..3e72d72cb9946 100644
--- a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
+++ b/control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp
@@ -12,16 +12,16 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
-#define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#ifndef AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#define AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#include
#include
#include
#include
#include
#include
#include
-#include
#include
#include
@@ -59,11 +59,11 @@ using nav_msgs::msg::Odometry;
using sensor_msgs::msg::Imu;
using sensor_msgs::msg::PointCloud2;
using PointCloud = pcl::PointCloud;
+using autoware::vehicle_info_utils::VehicleInfo;
using diagnostic_updater::DiagnosticStatusWrapper;
using diagnostic_updater::Updater;
using tier4_autoware_utils::Point2d;
using tier4_autoware_utils::Polygon2d;
-using vehicle_info_util::VehicleInfo;
using visualization_msgs::msg::Marker;
using visualization_msgs::msg::MarkerArray;
using Path = std::vector;
@@ -340,4 +340,4 @@ class AEB : public rclcpp::Node
};
} // namespace autoware::motion::control::autonomous_emergency_braking
-#endif // AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#endif // AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
diff --git a/control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml b/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
similarity index 74%
rename from control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml
rename to control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
index cf6640ec6be52..75b1a9dcf822d 100644
--- a/control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml
+++ b/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
@@ -1,12 +1,12 @@
-
+
-
+
diff --git a/control/autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
similarity index 94%
rename from control/autonomous_emergency_braking/package.xml
rename to control/autoware_autonomous_emergency_braking/package.xml
index bf27e6b7e1575..0404eec7ca308 100644
--- a/control/autonomous_emergency_braking/package.xml
+++ b/control/autoware_autonomous_emergency_braking/package.xml
@@ -1,7 +1,7 @@
- autonomous_emergency_braking
+ autoware_autonomous_emergency_braking
0.1.0
Autonomous Emergency Braking package as a ROS 2 node
Takamasa Horibe
@@ -17,6 +17,7 @@
autoware_control_msgs
autoware_planning_msgs
autoware_system_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
diagnostic_updater
geometry_msgs
@@ -34,7 +35,6 @@
tf2_geometry_msgs
tf2_ros
tier4_autoware_utils
- vehicle_info_util
visualization_msgs
ament_lint_auto
diff --git a/control/autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
similarity index 99%
rename from control/autonomous_emergency_braking/src/node.cpp
rename to control/autoware_autonomous_emergency_braking/src/node.cpp
index 71eb92a4e95fb..d01855bc8ab5d 100644
--- a/control/autonomous_emergency_braking/src/node.cpp
+++ b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autonomous_emergency_braking/node.hpp"
+#include "autoware_autonomous_emergency_braking/node.hpp"
#include
#include
@@ -60,7 +60,7 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point &
Polygon2d createPolygon(
const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & next_pose,
- const vehicle_info_util::VehicleInfo & vehicle_info, const double expand_width)
+ const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double expand_width)
{
Polygon2d polygon;
@@ -102,7 +102,7 @@ Polygon2d createPolygon(
AEB::AEB(const rclcpp::NodeOptions & node_options)
: Node("AEB", node_options),
- vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()),
+ vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()),
collision_data_keeper_(this->get_clock())
{
// Publisher
diff --git a/control/autoware_external_cmd_selector/CMakeLists.txt b/control/autoware_external_cmd_selector/CMakeLists.txt
new file mode 100644
index 0000000000000..4dccabcd85d8e
--- /dev/null
+++ b/control/autoware_external_cmd_selector/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_external_cmd_selector)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+ src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_node
+ PLUGIN "autoware::external_cmd_selector::ExternalCmdSelector"
+ EXECUTABLE autoware_external_cmd_selector
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+ launch
+ config
+)
diff --git a/control/external_cmd_selector/README.md b/control/autoware_external_cmd_selector/README.md
similarity index 91%
rename from control/external_cmd_selector/README.md
rename to control/autoware_external_cmd_selector/README.md
index ca0f4f0954dbf..0495004b68b84 100644
--- a/control/external_cmd_selector/README.md
+++ b/control/autoware_external_cmd_selector/README.md
@@ -1,8 +1,8 @@
-# external_cmd_selector
+# autoware_external_cmd_selector
## Purpose
-`external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.
+`autoware_external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.
The current mode is set via service, `remote` is remotely operated, `local` is to use the values calculated by Autoware.
diff --git a/control/external_cmd_selector/config/external_cmd_selector.param.yaml b/control/autoware_external_cmd_selector/config/external_cmd_selector.param.yaml
similarity index 100%
rename from control/external_cmd_selector/config/external_cmd_selector.param.yaml
rename to control/autoware_external_cmd_selector/config/external_cmd_selector.param.yaml
diff --git a/control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp b/control/autoware_external_cmd_selector/include/autoware_external_cmd_selector/external_cmd_selector_node.hpp
similarity index 93%
rename from control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp
rename to control/autoware_external_cmd_selector/include/autoware_external_cmd_selector/external_cmd_selector_node.hpp
index 6a4fb897b57bc..1517ca83ad1f0 100644
--- a/control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp
+++ b/control/autoware_external_cmd_selector/include/autoware_external_cmd_selector/external_cmd_selector_node.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
-#define EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+#ifndef AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+#define AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
#include
#include
@@ -30,7 +30,8 @@
#include
#include
-
+namespace autoware::external_cmd_selector
+{
class ExternalCmdSelector : public rclcpp::Node
{
public:
@@ -101,5 +102,5 @@ class ExternalCmdSelector : public rclcpp::Node
// Diagnostics Updater
diagnostic_updater::Updater updater_{this};
};
-
-#endif // EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+} // namespace autoware::external_cmd_selector
+#endif // AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
diff --git a/control/external_cmd_selector/launch/external_cmd_selector.launch.py b/control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.py
similarity index 97%
rename from control/external_cmd_selector/launch/external_cmd_selector.launch.py
rename to control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.py
index 358cc135996f7..95673502e2b51 100644
--- a/control/external_cmd_selector/launch/external_cmd_selector.launch.py
+++ b/control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.py
@@ -32,8 +32,8 @@ def launch_setup(context, *args, **kwargs):
external_cmd_selector_param = yaml.safe_load(f)["/**"]["ros__parameters"]
component = ComposableNode(
- package="external_cmd_selector",
- plugin="ExternalCmdSelector",
+ package="autoware_external_cmd_selector",
+ plugin="autoware::external_cmd_selector::ExternalCmdSelector",
name="external_cmd_selector",
remappings=[
_create_mapping_tuple("service/select_external_command"),
diff --git a/control/external_cmd_selector/launch/external_cmd_selector.launch.xml b/control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.xml
similarity index 95%
rename from control/external_cmd_selector/launch/external_cmd_selector.launch.xml
rename to control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.xml
index cb373802e5183..7e8b32ac68d8d 100644
--- a/control/external_cmd_selector/launch/external_cmd_selector.launch.xml
+++ b/control/autoware_external_cmd_selector/launch/external_cmd_selector.launch.xml
@@ -26,7 +26,7 @@
-
+
diff --git a/control/external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml
similarity index 92%
rename from control/external_cmd_selector/package.xml
rename to control/autoware_external_cmd_selector/package.xml
index b3520839e3b51..19881f06c96e5 100644
--- a/control/external_cmd_selector/package.xml
+++ b/control/autoware_external_cmd_selector/package.xml
@@ -1,9 +1,9 @@
- external_cmd_selector
+ autoware_external_cmd_selector
0.1.0
- The external_cmd_selector package
+ The autoware_external_cmd_selector package
Taiki Tanaka
Tomoya Kimura
Shumpei Wakabayashi
diff --git a/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp b/control/autoware_external_cmd_selector/src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
similarity index 96%
rename from control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp
rename to control/autoware_external_cmd_selector/src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
index 0039ec9cd1547..59a8caa5c1568 100644
--- a/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp
+++ b/control/autoware_external_cmd_selector/src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "external_cmd_selector/external_cmd_selector_node.hpp"
+#include "autoware_external_cmd_selector/external_cmd_selector_node.hpp"
#include
@@ -21,6 +21,8 @@
#include
#include
+namespace autoware::external_cmd_selector
+{
ExternalCmdSelector::ExternalCmdSelector(const rclcpp::NodeOptions & node_options)
: Node("external_cmd_selector", node_options)
{
@@ -202,6 +204,7 @@ ExternalCmdSelector::InternalHeartbeat ExternalCmdSelector::convert(
{
return command;
}
+} // namespace autoware::external_cmd_selector
#include
-RCLCPP_COMPONENTS_REGISTER_NODE(ExternalCmdSelector)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::external_cmd_selector::ExternalCmdSelector)
diff --git a/control/autoware_joy_controller/CMakeLists.txt b/control/autoware_joy_controller/CMakeLists.txt
new file mode 100644
index 0000000000000..9c7d8b3ad475a
--- /dev/null
+++ b/control/autoware_joy_controller/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_joy_controller)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_joy_controller_node SHARED
+ DIRECTORY src
+)
+
+rclcpp_components_register_node(autoware_joy_controller_node
+ PLUGIN "autoware::joy_controller::AutowareJoyControllerNode"
+ EXECUTABLE autoware_joy_controller
+)
+
+ament_auto_package(
+ INSTALL_TO_SHARE
+ launch
+ config
+)
diff --git a/control/joy_controller/README.md b/control/autoware_joy_controller/README.md
similarity index 94%
rename from control/joy_controller/README.md
rename to control/autoware_joy_controller/README.md
index 73e3644df49ac..a6919356f3dbc 100644
--- a/control/joy_controller/README.md
+++ b/control/autoware_joy_controller/README.md
@@ -1,8 +1,8 @@
-# joy_controller
+# autoware_joy_controller
## Role
-`joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
+`autoware_joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
## Usage
@@ -10,13 +10,13 @@
```bash
# With default config (ds4)
-ros2 launch joy_controller joy_controller.launch.xml
+ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
-ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
+ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
-ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
+ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
```
## Input / Output
diff --git a/control/joy_controller/config/joy_controller_ds4.param.yaml b/control/autoware_joy_controller/config/joy_controller_ds4.param.yaml
similarity index 100%
rename from control/joy_controller/config/joy_controller_ds4.param.yaml
rename to control/autoware_joy_controller/config/joy_controller_ds4.param.yaml
diff --git a/control/joy_controller/config/joy_controller_g29.param.yaml b/control/autoware_joy_controller/config/joy_controller_g29.param.yaml
similarity index 100%
rename from control/joy_controller/config/joy_controller_g29.param.yaml
rename to control/autoware_joy_controller/config/joy_controller_g29.param.yaml
diff --git a/control/joy_controller/config/joy_controller_p65.param.yaml b/control/autoware_joy_controller/config/joy_controller_p65.param.yaml
similarity index 100%
rename from control/joy_controller/config/joy_controller_p65.param.yaml
rename to control/autoware_joy_controller/config/joy_controller_p65.param.yaml
diff --git a/control/joy_controller/config/joy_controller_xbox.param.yaml b/control/autoware_joy_controller/config/joy_controller_xbox.param.yaml
similarity index 100%
rename from control/joy_controller/config/joy_controller_xbox.param.yaml
rename to control/autoware_joy_controller/config/joy_controller_xbox.param.yaml
diff --git a/control/joy_controller/include/joy_controller/joy_controller.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp
similarity index 86%
rename from control/joy_controller/include/joy_controller/joy_controller.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp
index e88f7bcb3904e..88371455def62 100644
--- a/control/joy_controller/include/joy_controller/joy_controller.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp
@@ -12,12 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONTROLLER_HPP_
-#define JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
#include
+#include
#include
#include
@@ -36,7 +37,7 @@
#include
#include
-namespace joy_controller
+namespace autoware::joy_controller
{
using GearShiftType = tier4_external_api_msgs::msg::GearShift::_data_type;
using TurnSignalType = tier4_external_api_msgs::msg::TurnSignal::_data_type;
@@ -66,19 +67,20 @@ class AutowareJoyControllerNode : public rclcpp::Node
double backward_accel_ratio_;
// CallbackGroups
- rclcpp::CallbackGroup::SharedPtr callback_group_subscribers_;
rclcpp::CallbackGroup::SharedPtr callback_group_services_;
// Subscriber
- rclcpp::Subscription::SharedPtr sub_joy_;
- rclcpp::Subscription::SharedPtr sub_odom_;
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_joy_{
+ this, "input/joy"};
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_odom_{
+ this, "input/odometry"};
rclcpp::Time last_joy_received_time_;
std::shared_ptr joy_;
geometry_msgs::msg::TwistStamped::ConstSharedPtr twist_;
- void onJoy(const sensor_msgs::msg::Joy::ConstSharedPtr msg);
- void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
+ void onJoy();
+ void onOdometry();
// Publisher
rclcpp::Publisher::SharedPtr pub_control_command_;
@@ -118,6 +120,6 @@ class AutowareJoyControllerNode : public rclcpp::Node
bool isDataReady();
void onTimer();
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
diff --git a/control/joy_controller/include/joy_controller/joy_converter/ds4_joy_converter.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp
similarity index 89%
rename from control/joy_controller/include/joy_controller/joy_converter/ds4_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp
index faa920d493478..7cfac1af8662b 100644
--- a/control/joy_controller/include/joy_controller/joy_converter/ds4_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp
@@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
#include
-namespace joy_controller
+namespace autoware::joy_controller
{
class DS4JoyConverter : public JoyConverterBase
{
@@ -90,6 +90,6 @@ class DS4JoyConverter : public JoyConverterBase
bool reverse() const { return Share(); }
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
diff --git a/control/joy_controller/include/joy_controller/joy_converter/g29_joy_converter.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp
similarity index 88%
rename from control/joy_controller/include/joy_controller/joy_converter/g29_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp
index 7ba062fe10d19..a36ad3a580287 100644
--- a/control/joy_controller/include/joy_controller/joy_converter/g29_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp
@@ -12,12 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
-namespace joy_controller
+namespace autoware::joy_controller
{
class G29JoyConverter : public JoyConverterBase
{
@@ -88,6 +88,6 @@ class G29JoyConverter : public JoyConverterBase
bool reverse() const { return Share(); }
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
diff --git a/control/joy_controller/include/joy_controller/joy_converter/joy_converter_base.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp
similarity index 82%
rename from control/joy_controller/include/joy_controller/joy_converter/joy_converter_base.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp
index 94587b88e22f5..98a8b799d71a9 100644
--- a/control/joy_controller/include/joy_controller/joy_converter/joy_converter_base.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp
@@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
#include
#include
-namespace joy_controller
+namespace autoware::joy_controller
{
class JoyConverterBase
{
@@ -50,6 +50,6 @@ class JoyConverterBase
virtual bool vehicle_engage() const = 0;
virtual bool vehicle_disengage() const = 0;
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
diff --git a/control/joy_controller/include/joy_controller/joy_converter/p65_joy_converter.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp
similarity index 88%
rename from control/joy_controller/include/joy_controller/joy_converter/p65_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp
index e4cb822846fef..a6f51cb95b44d 100644
--- a/control/joy_controller/include/joy_controller/joy_converter/p65_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp
@@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
#include
-namespace joy_controller
+namespace autoware::joy_controller
{
class P65JoyConverter : public JoyConverterBase
{
@@ -76,6 +76,6 @@ class P65JoyConverter : public JoyConverterBase
const sensor_msgs::msg::Joy j_;
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
diff --git a/control/joy_controller/include/joy_controller/joy_converter/xbox_joy_converter.hpp b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp
similarity index 88%
rename from control/joy_controller/include/joy_controller/joy_converter/xbox_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp
index a009ee1e12975..776b0c98b7835 100644
--- a/control/joy_controller/include/joy_controller/joy_converter/xbox_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp
@@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
#include
-namespace joy_controller
+namespace autoware::joy_controller
{
class XBOXJoyConverter : public JoyConverterBase
{
@@ -76,6 +76,6 @@ class XBOXJoyConverter : public JoyConverterBase
const sensor_msgs::msg::Joy j_;
};
-} // namespace joy_controller
+} // namespace autoware::joy_controller
-#endif // JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#endif // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
diff --git a/control/joy_controller/launch/joy_controller.launch.xml b/control/autoware_joy_controller/launch/joy_controller.launch.xml
similarity index 89%
rename from control/joy_controller/launch/joy_controller.launch.xml
rename to control/autoware_joy_controller/launch/joy_controller.launch.xml
index 5236077680d0d..02220f0026cea 100644
--- a/control/joy_controller/launch/joy_controller.launch.xml
+++ b/control/autoware_joy_controller/launch/joy_controller.launch.xml
@@ -12,9 +12,9 @@
-
+
-
+
diff --git a/control/autoware_joy_controller/launch/joy_controller_param_selection.launch.xml b/control/autoware_joy_controller/launch/joy_controller_param_selection.launch.xml
new file mode 100644
index 0000000000000..3d0aae9a45c4a
--- /dev/null
+++ b/control/autoware_joy_controller/launch/joy_controller_param_selection.launch.xml
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
diff --git a/control/joy_controller/package.xml b/control/autoware_joy_controller/package.xml
similarity index 90%
rename from control/joy_controller/package.xml
rename to control/autoware_joy_controller/package.xml
index f7a5ed805b8ad..10e33d5d6564a 100644
--- a/control/joy_controller/package.xml
+++ b/control/autoware_joy_controller/package.xml
@@ -1,9 +1,9 @@
- joy_controller
+ autoware_joy_controller
0.1.0
- The joy_controller package
+ The autoware_joy_controller package
Taiki Tanaka
Tomoya Kimura
Shumpei Wakabayashi
@@ -26,6 +26,7 @@
sensor_msgs
std_srvs
tier4_api_utils
+ tier4_autoware_utils
tier4_control_msgs
tier4_external_api_msgs
diff --git a/control/joy_controller/schema/joy_controller.schema.json b/control/autoware_joy_controller/schema/joy_controller.schema.json
similarity index 97%
rename from control/joy_controller/schema/joy_controller.schema.json
rename to control/autoware_joy_controller/schema/joy_controller.schema.json
index d4c6351324935..4c95057aec46d 100644
--- a/control/joy_controller/schema/joy_controller.schema.json
+++ b/control/autoware_joy_controller/schema/joy_controller.schema.json
@@ -3,7 +3,7 @@
"title": "Parameters for Joy Controller node",
"type": "object",
"definitions": {
- "joy_controller": {
+ "autoware_joy_controller": {
"type": "object",
"properties": {
"joy_type": {
@@ -112,7 +112,7 @@
"type": "object",
"properties": {
"ros__parameters": {
- "$ref": "#/definitions/joy_controller"
+ "$ref": "#/definitions/autoware_joy_controller"
}
},
"required": ["ros__parameters"],
diff --git a/control/joy_controller/src/joy_controller/joy_controller_node.cpp b/control/autoware_joy_controller/src/joy_controller_node.cpp
similarity index 91%
rename from control/joy_controller/src/joy_controller/joy_controller_node.cpp
rename to control/autoware_joy_controller/src/joy_controller_node.cpp
index 39198825f9c4e..2491893a2806c 100644
--- a/control/joy_controller/src/joy_controller/joy_controller_node.cpp
+++ b/control/autoware_joy_controller/src/joy_controller_node.cpp
@@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "joy_controller/joy_controller.hpp"
-#include "joy_controller/joy_converter/ds4_joy_converter.hpp"
-#include "joy_controller/joy_converter/g29_joy_converter.hpp"
-#include "joy_controller/joy_converter/p65_joy_converter.hpp"
-#include "joy_controller/joy_converter/xbox_joy_converter.hpp"
+#include "autoware_joy_controller/joy_controller.hpp"
+#include "autoware_joy_controller/joy_converter/ds4_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/g29_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/p65_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/xbox_joy_converter.hpp"
#include
@@ -27,9 +27,9 @@
namespace
{
-using joy_controller::GateModeType;
-using joy_controller::GearShiftType;
-using joy_controller::TurnSignalType;
+using autoware::joy_controller::GateModeType;
+using autoware::joy_controller::GearShiftType;
+using autoware::joy_controller::TurnSignalType;
using GearShift = tier4_external_api_msgs::msg::GearShift;
using TurnSignal = tier4_external_api_msgs::msg::TurnSignal;
using GateMode = tier4_control_msgs::msg::GateMode;
@@ -146,10 +146,11 @@ double calcMapping(const double input, const double sensitivity)
} // namespace
-namespace joy_controller
+namespace autoware::joy_controller
{
-void AutowareJoyControllerNode::onJoy(const sensor_msgs::msg::Joy::ConstSharedPtr msg)
+void AutowareJoyControllerNode::onJoy()
{
+ const auto msg = sub_joy_.takeData();
last_joy_received_time_ = msg->header.stamp;
if (joy_type_ == "G29") {
joy_ = std::make_shared(*msg);
@@ -190,8 +191,13 @@ void AutowareJoyControllerNode::onJoy(const sensor_msgs::msg::Joy::ConstSharedPt
}
}
-void AutowareJoyControllerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
+void AutowareJoyControllerNode::onOdometry()
{
+ if (raw_control_) {
+ return;
+ }
+
+ const auto msg = sub_odom_.takeData();
auto twist = std::make_shared();
twist->header = msg->header;
twist->twist = msg->twist.twist;
@@ -243,6 +249,9 @@ bool AutowareJoyControllerNode::isDataReady()
void AutowareJoyControllerNode::onTimer()
{
+ onOdometry();
+ onJoy();
+
if (!isDataReady()) {
return;
}
@@ -450,7 +459,7 @@ void AutowareJoyControllerNode::initTimer(double period_s)
}
AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions & node_options)
-: Node("joy_controller", node_options)
+: Node("autoware_joy_controller", node_options)
{
// Parameter
joy_type_ = declare_parameter("joy_type");
@@ -470,23 +479,11 @@ AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions &
RCLCPP_INFO(get_logger(), "Joy type: %s", joy_type_.c_str());
// Callback Groups
- callback_group_subscribers_ =
- this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
callback_group_services_ =
this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
- auto subscriber_option = rclcpp::SubscriptionOptions();
- subscriber_option.callback_group = callback_group_subscribers_;
// Subscriber
- sub_joy_ = this->create_subscription(
- "input/joy", 1, std::bind(&AutowareJoyControllerNode::onJoy, this, std::placeholders::_1),
- subscriber_option);
- if (!raw_control_) {
- sub_odom_ = this->create_subscription(
- "input/odometry", 1,
- std::bind(&AutowareJoyControllerNode::onOdometry, this, std::placeholders::_1),
- subscriber_option);
- } else {
+ if (raw_control_) {
twist_ = std::make_shared();
}
@@ -524,7 +521,7 @@ AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions &
// Timer
initTimer(1.0 / update_rate_);
}
-} // namespace joy_controller
+} // namespace autoware::joy_controller
#include
-RCLCPP_COMPONENTS_REGISTER_NODE(joy_controller::AutowareJoyControllerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::joy_controller::AutowareJoyControllerNode)
diff --git a/control/mpc_lateral_controller/CMakeLists.txt b/control/autoware_mpc_lateral_controller/CMakeLists.txt
similarity index 96%
rename from control/mpc_lateral_controller/CMakeLists.txt
rename to control/autoware_mpc_lateral_controller/CMakeLists.txt
index e4a3683ea1fdc..dff85d70419a1 100644
--- a/control/mpc_lateral_controller/CMakeLists.txt
+++ b/control/autoware_mpc_lateral_controller/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
-project(mpc_lateral_controller)
+project(autoware_mpc_lateral_controller)
find_package(autoware_cmake REQUIRED)
autoware_package()
diff --git a/control/mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md
similarity index 100%
rename from control/mpc_lateral_controller/README.md
rename to control/autoware_mpc_lateral_controller/README.md
diff --git a/control/mpc_lateral_controller/image/vehicle_error_kinematics.png b/control/autoware_mpc_lateral_controller/image/vehicle_error_kinematics.png
similarity index 100%
rename from control/mpc_lateral_controller/image/vehicle_error_kinematics.png
rename to control/autoware_mpc_lateral_controller/image/vehicle_error_kinematics.png
diff --git a/control/mpc_lateral_controller/image/vehicle_kinematics.png b/control/autoware_mpc_lateral_controller/image/vehicle_kinematics.png
similarity index 100%
rename from control/mpc_lateral_controller/image/vehicle_kinematics.png
rename to control/autoware_mpc_lateral_controller/image/vehicle_kinematics.png
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp
similarity index 95%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp
index 227bd0594312b..73cef7cddda39 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
-#define MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
#include
#include
@@ -102,4 +102,4 @@ namespace MoveAverageFilter
bool filt_vector(const int num, std::vector & u);
} // namespace MoveAverageFilter
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp
similarity index 97%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp
index 91b803dea36fa..03abae66e4986 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp
@@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__MPC_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_HPP_
-
-#include "mpc_lateral_controller/lowpass_filter.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
-#include "mpc_lateral_controller/steering_predictor.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/steering_predictor.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "autoware_control_msgs/msg/lateral.hpp"
@@ -525,4 +525,4 @@ class MPC
}; // class MPC
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__MPC_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp
similarity index 95%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp
index eb1d75f9508b3..e0775e1d09def 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp
@@ -12,13 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
-#include "mpc_lateral_controller/mpc.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
-#include "mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
#include "rclcpp/rclcpp.hpp"
#include "trajectory_follower_base/lateral_controller_base.hpp"
@@ -281,4 +281,4 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp
similarity index 95%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp
index eb624f39ae76b..4a0ae16bc9b1c 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
#include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -125,4 +125,4 @@ class MPCTrajectory
}
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp
similarity index 97%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp
index 819d7fb89b8a7..e97a004438e4b 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
#include "rclcpp/rclcpp.hpp"
#include "tf2/utils.h"
@@ -26,7 +26,7 @@
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#endif
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
#include "autoware_planning_msgs/msg/trajectory.hpp"
#include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -230,4 +230,4 @@ void update_param(
} // namespace MPCUtils
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
similarity index 89%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
index ca30bd30e4dd1..6447437d6c274 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
#include
@@ -51,4 +51,4 @@ class QPSolverInterface
virtual double getObjVal() const { return 0.0; }
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
similarity index 88%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
index 2611f94da324f..8c81092960097 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
#include "osqp_interface/osqp_interface.hpp"
#include "rclcpp/rclcpp.hpp"
@@ -62,4 +62,4 @@ class QPSolverOSQP : public QPSolverInterface
rclcpp::Logger logger_;
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
similarity index 87%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
index ef337eaaa8528..15c8137b78890 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
namespace autoware::motion::control::mpc_lateral_controller
{
@@ -62,4 +62,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
private:
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp
similarity index 84%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp
index 494961ef679d2..707c1ce56a9a6 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
#include
@@ -45,4 +45,4 @@ class SteeringOffsetEstimator
double steering_offset_ = 0.0;
};
-#endif // MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp
similarity index 92%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp
index 16e9b165fb1a5..0c5f04497d058 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
#include "rclcpp/rclcpp.hpp"
@@ -81,4 +81,4 @@ class SteeringPredictor
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
similarity index 92%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
index 488a3c7ab8be2..20787b1f281b5 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp
@@ -44,10 +44,10 @@
* Tracking", Robotics Institute, Carnegie Mellon University, February 2009.
*/
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
#include
#include
@@ -122,4 +122,4 @@ class DynamicsBicycleModel : public VehicleModelInterface
double m_cr; //!< @brief rear cornering power [N/rad]
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
similarity index 90%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
index e2f66e95ab0e3..91d3ea826c7d3 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp
@@ -38,10 +38,10 @@
*
*/
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
#include
#include
@@ -106,4 +106,4 @@ class KinematicsBicycleModel : public VehicleModelInterface
double m_steer_tau; //!< @brief steering time constant for 1d-model [s]
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
similarity index 87%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
index b503ad8eb1d13..5731a2025d833 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp
@@ -35,10 +35,10 @@
*
*/
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
#include
#include
@@ -101,4 +101,6 @@ class KinematicsBicycleModelNoDelay : public VehicleModelInterface
double m_steer_lim; //!< @brief steering angle limit [rad]
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
+// clang-format off
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT
+// clang-format on
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
similarity index 93%
rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
index 68806ff5a00dc..9e2d14184d5e7 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
#include
@@ -149,4 +149,4 @@ class VehicleModelInterface
const MPCTrajectory & reference_trajectory, const double dt) const = 0;
};
} // namespace autoware::motion::control::mpc_lateral_controller
-#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
diff --git a/control/mpc_lateral_controller/model_predictive_control_algorithm.md b/control/autoware_mpc_lateral_controller/model_predictive_control_algorithm.md
similarity index 100%
rename from control/mpc_lateral_controller/model_predictive_control_algorithm.md
rename to control/autoware_mpc_lateral_controller/model_predictive_control_algorithm.md
diff --git a/control/mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
similarity index 94%
rename from control/mpc_lateral_controller/package.xml
rename to control/autoware_mpc_lateral_controller/package.xml
index 000bddc65aa1f..673d9d7896745 100644
--- a/control/mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -1,7 +1,7 @@
- mpc_lateral_controller
+ autoware_mpc_lateral_controller
1.0.0
MPC-based lateral controller
@@ -19,6 +19,7 @@
autoware_control_msgs
autoware_planning_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
diagnostic_msgs
diagnostic_updater
@@ -35,7 +36,6 @@
tier4_autoware_utils
tier4_debug_msgs
trajectory_follower_base
- vehicle_info_util
ament_cmake_ros
ament_lint_auto
diff --git a/control/mpc_lateral_controller/param/lateral_controller_defaults.param.yaml b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
similarity index 100%
rename from control/mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
rename to control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
diff --git a/control/mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp
similarity index 98%
rename from control/mpc_lateral_controller/src/lowpass_filter.cpp
rename to control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp
index 8fbf3488c5a2e..e3bbe78e2428b 100644
--- a/control/mpc_lateral_controller/src/lowpass_filter.cpp
+++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/lowpass_filter.hpp"
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
#include
diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
similarity index 99%
rename from control/mpc_lateral_controller/src/mpc.cpp
rename to control/autoware_mpc_lateral_controller/src/mpc.cpp
index 177c1e0854bfb..e6fa2ce3c0102 100644
--- a/control/mpc_lateral_controller/src/mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
#include "interpolation/linear_interpolation.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tier4_autoware_utils/math/unit_conversion.hpp"
diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
similarity index 97%
rename from control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
rename to control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
index 85d33a5e9f1c0..cf8a4ed5a251b 100644
--- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -12,17 +12,17 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/mpc_lateral_controller.hpp"
-
+#include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp"
+
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
+#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
#include "tf2/utils.h"
#include "tf2_ros/create_timer_ros.h"
-#include "vehicle_info_util/vehicle_info_util.hpp"
#include
#include
@@ -69,7 +69,7 @@ MpcLateralController::MpcLateralController(rclcpp::Node & node)
m_mpc_converged_threshold_rps = dp_double("mpc_converged_threshold_rps"); // [rad/s]
/* mpc parameters */
- const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
+ const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo();
const double wheelbase = vehicle_info.wheel_base_m;
constexpr double deg2rad = static_cast(M_PI) / 180.0;
m_mpc->m_steer_lim = vehicle_info.max_steer_angle_rad;
diff --git a/control/mpc_lateral_controller/src/mpc_trajectory.cpp b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp
similarity index 97%
rename from control/mpc_lateral_controller/src/mpc_trajectory.cpp
rename to control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp
index b7fed942375e8..e84e6cf79a25a 100644
--- a/control/mpc_lateral_controller/src/mpc_trajectory.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
similarity index 99%
rename from control/mpc_lateral_controller/src/mpc_utils.cpp
rename to control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
index 01a81d9015b47..1a0062372eb22 100644
--- a/control/mpc_lateral_controller/src/mpc_utils.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
#include "interpolation/linear_interpolation.hpp"
#include "interpolation/spline_interpolation.hpp"
diff --git a/control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
similarity index 97%
rename from control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
rename to control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
index 7c76d67e75aa3..66981b0c5c6d4 100644
--- a/control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
+++ b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
#include
#include
diff --git a/control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp
similarity index 93%
rename from control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp
rename to control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp
index b0357138cd646..315e29d063aad 100644
--- a/control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp
+++ b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
#include
diff --git a/control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp b/control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp
similarity index 95%
rename from control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp
rename to control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp
index 60d4dd7901394..6425d5da5e941 100644
--- a/control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp
+++ b/control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
#include
#include
diff --git a/control/mpc_lateral_controller/src/steering_predictor.cpp b/control/autoware_mpc_lateral_controller/src/steering_predictor.cpp
similarity index 98%
rename from control/mpc_lateral_controller/src/steering_predictor.cpp
rename to control/autoware_mpc_lateral_controller/src/steering_predictor.cpp
index 48d8fa8c47a97..759a36a16de62 100644
--- a/control/mpc_lateral_controller/src/steering_predictor.cpp
+++ b/control/autoware_mpc_lateral_controller/src/steering_predictor.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/steering_predictor.hpp"
+#include "autoware_mpc_lateral_controller/steering_predictor.hpp"
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
similarity index 98%
rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
index 2467b1f0c2311..d5272c48fcbdf 100644
--- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
+++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
#include
diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
similarity index 98%
rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
index cd52dd4f79314..97bcafb161cb0 100644
--- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
+++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
#include
diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
similarity index 98%
rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
index 8f4510510aca9..d2857d8b42182 100644
--- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
+++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
#include
diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp
similarity index 94%
rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp
rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp
index f54a5e325bead..e1b17d3d96278 100644
--- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp
+++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
namespace autoware::motion::control::mpc_lateral_controller
{
diff --git a/control/mpc_lateral_controller/test/test_lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp
similarity index 98%
rename from control/mpc_lateral_controller/test/test_lowpass_filter.cpp
rename to control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp
index c68513586847b..bfb695cdeee8a 100644
--- a/control/mpc_lateral_controller/test/test_lowpass_filter.cpp
+++ b/control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
#include "gtest/gtest.h"
-#include "mpc_lateral_controller/lowpass_filter.hpp"
#include
diff --git a/control/mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
similarity index 97%
rename from control/mpc_lateral_controller/test/test_mpc.cpp
rename to control/autoware_mpc_lateral_controller/test/test_mpc.cpp
index 7644fb28b0788..3fd4b010852c0 100644
--- a/control/mpc_lateral_controller/test/test_mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
@@ -12,13 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
#include "gtest/gtest.h"
-#include "mpc_lateral_controller/mpc.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
#include "rclcpp/rclcpp.hpp"
#include "autoware_control_msgs/msg/lateral.hpp"
diff --git a/control/mpc_lateral_controller/test/test_mpc_utils.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp
similarity index 95%
rename from control/mpc_lateral_controller/test/test_mpc_utils.cpp
rename to control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp
index 51cc7d55e4560..b55435dffd024 100644
--- a/control/mpc_lateral_controller/test/test_mpc_utils.cpp
+++ b/control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp
@@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
#include "gtest/gtest.h"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
#include "autoware_planning_msgs/msg/trajectory.hpp"
#include "autoware_planning_msgs/msg/trajectory_point.hpp"
diff --git a/control/pid_longitudinal_controller/CMakeLists.txt b/control/autoware_pid_longitudinal_controller/CMakeLists.txt
similarity index 80%
rename from control/pid_longitudinal_controller/CMakeLists.txt
rename to control/autoware_pid_longitudinal_controller/CMakeLists.txt
index 3e7a992b15e00..f0dce81eb54e1 100644
--- a/control/pid_longitudinal_controller/CMakeLists.txt
+++ b/control/autoware_pid_longitudinal_controller/CMakeLists.txt
@@ -1,15 +1,12 @@
cmake_minimum_required(VERSION 3.14)
-project(pid_longitudinal_controller)
+project(autoware_pid_longitudinal_controller)
find_package(autoware_cmake REQUIRED)
autoware_package()
set(PID_LON_CON_LIB ${PROJECT_NAME}_lib)
ament_auto_add_library(${PID_LON_CON_LIB} SHARED
- src/pid_longitudinal_controller.cpp
- src/pid.cpp
- src/smooth_stop.cpp
- src/longitudinal_controller_utils.cpp
+ DIRECTORY src
)
if(BUILD_TESTING)
diff --git a/control/pid_longitudinal_controller/README.md b/control/autoware_pid_longitudinal_controller/README.md
similarity index 100%
rename from control/pid_longitudinal_controller/README.md
rename to control/autoware_pid_longitudinal_controller/README.md
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp
similarity index 92%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp
index 409af46b16ed1..bd682f9566134 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp
@@ -12,10 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
#include
+#include
namespace autoware::motion::control::pid_longitudinal_controller
{
@@ -92,4 +93,4 @@ class DebugValues
};
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp
similarity index 96%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp
index 4ea844a140f4f..171571b493774 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
#include "interpolation/linear_interpolation.hpp"
#include "interpolation/spherical_linear_interpolation.hpp"
@@ -155,4 +155,4 @@ geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
} // namespace longitudinal_utils
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp
similarity index 89%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp
index 06fe1793c8123..a743be573cf60 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
#include
#include
@@ -63,4 +63,4 @@ class LowpassFilter1d
}
};
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp
similarity index 94%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp
index 8b981c0485ed9..8323e35b5da27 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__PID_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
#include
@@ -91,4 +91,4 @@ class PIDController
};
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp
similarity index 95%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp
index dee2e580e6911..08a6a51d3098b 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -12,22 +12,22 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
-
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+
+#include "autoware_pid_longitudinal_controller/debug_values.hpp"
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
+#include "autoware_pid_longitudinal_controller/lowpass_filter.hpp"
+#include "autoware_pid_longitudinal_controller/pid.hpp"
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
+#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
#include "diagnostic_updater/diagnostic_updater.hpp"
-#include "pid_longitudinal_controller/debug_values.hpp"
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
-#include "pid_longitudinal_controller/lowpass_filter.hpp"
-#include "pid_longitudinal_controller/pid.hpp"
-#include "pid_longitudinal_controller/smooth_stop.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2/utils.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "tier4_autoware_utils/ros/marker_helper.hpp"
#include "trajectory_follower_base/longitudinal_controller_base.hpp"
-#include "vehicle_info_util/vehicle_info_util.hpp"
#include
#include
@@ -408,4 +408,4 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
};
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp
similarity index 95%
rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp
rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp
index 9a0a36123e143..e433fd158026b 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
#include "rclcpp/rclcpp.hpp"
@@ -112,4 +112,4 @@ class SmoothStop
};
} // namespace autoware::motion::control::pid_longitudinal_controller
-#endif // PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
diff --git a/control/pid_longitudinal_controller/media/BrakeKeeping.drawio.svg b/control/autoware_pid_longitudinal_controller/media/BrakeKeeping.drawio.svg
similarity index 100%
rename from control/pid_longitudinal_controller/media/BrakeKeeping.drawio.svg
rename to control/autoware_pid_longitudinal_controller/media/BrakeKeeping.drawio.svg
diff --git a/control/pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg b/control/autoware_pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg
similarity index 100%
rename from control/pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg
rename to control/autoware_pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg
diff --git a/control/pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg b/control/autoware_pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg
similarity index 100%
rename from control/pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg
rename to control/autoware_pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg
diff --git a/control/pid_longitudinal_controller/media/slope_definition.drawio.svg b/control/autoware_pid_longitudinal_controller/media/slope_definition.drawio.svg
similarity index 100%
rename from control/pid_longitudinal_controller/media/slope_definition.drawio.svg
rename to control/autoware_pid_longitudinal_controller/media/slope_definition.drawio.svg
diff --git a/control/pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
similarity index 94%
rename from control/pid_longitudinal_controller/package.xml
rename to control/autoware_pid_longitudinal_controller/package.xml
index 82b297a69fee6..66f6a6dfcda8b 100644
--- a/control/pid_longitudinal_controller/package.xml
+++ b/control/autoware_pid_longitudinal_controller/package.xml
@@ -1,7 +1,7 @@
- pid_longitudinal_controller
+ autoware_pid_longitudinal_controller
1.0.0
PID-based longitudinal controller
@@ -21,6 +21,7 @@
autoware_adapi_v1_msgs
autoware_control_msgs
autoware_planning_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
diagnostic_msgs
diagnostic_updater
@@ -36,7 +37,6 @@
tier4_autoware_utils
tier4_debug_msgs
trajectory_follower_base
- vehicle_info_util
ament_cmake_ros
ament_lint_auto
diff --git a/control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml b/control/autoware_pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml
similarity index 100%
rename from control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml
rename to control/autoware_pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml
diff --git a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
similarity index 98%
rename from control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
rename to control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
index 4e9ef52a4969e..0d8707afccad8 100644
--- a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
#include "tf2/LinearMath/Matrix3x3.h"
#include "tf2/LinearMath/Quaternion.h"
diff --git a/control/pid_longitudinal_controller/src/pid.cpp b/control/autoware_pid_longitudinal_controller/src/pid.cpp
similarity index 98%
rename from control/pid_longitudinal_controller/src/pid.cpp
rename to control/autoware_pid_longitudinal_controller/src/pid.cpp
index 530b5cd15e754..6d2c61f639746 100644
--- a/control/pid_longitudinal_controller/src/pid.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "pid_longitudinal_controller/pid.hpp"
+#include "autoware_pid_longitudinal_controller/pid.hpp"
#include
#include
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
similarity index 99%
rename from control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
rename to control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index 9a8223c610f9a..4cca525f6ebf3 100644
--- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "pid_longitudinal_controller/pid_longitudinal_controller.hpp"
+#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
#include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -38,9 +38,11 @@ PidLongitudinalController::PidLongitudinalController(rclcpp::Node & node)
// parameters timer
m_longitudinal_ctrl_period = node.get_parameter("ctrl_period").as_double();
- m_wheel_base = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().wheel_base_m;
- m_vehicle_width = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().vehicle_width_m;
- m_front_overhang = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().front_overhang_m;
+ m_wheel_base = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().wheel_base_m;
+ m_vehicle_width =
+ autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().vehicle_width_m;
+ m_front_overhang =
+ autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().front_overhang_m;
// parameters for delay compensation
m_delay_compensation_time = node.declare_parameter("delay_compensation_time"); // [s]
@@ -1148,7 +1150,7 @@ void PidLongitudinalController::updateDebugVelAcc(const ControlData & control_da
void PidLongitudinalController::setupDiagnosticUpdater()
{
- diagnostic_updater_.setHardwareID("pid_longitudinal_controller");
+ diagnostic_updater_.setHardwareID("autoware_pid_longitudinal_controller");
diagnostic_updater_.add("control_state", this, &PidLongitudinalController::checkControlState);
}
diff --git a/control/pid_longitudinal_controller/src/smooth_stop.cpp b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
similarity index 98%
rename from control/pid_longitudinal_controller/src/smooth_stop.cpp
rename to control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
index 27fab43fa506f..9d8ad05235f11 100644
--- a/control/pid_longitudinal_controller/src/smooth_stop.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "pid_longitudinal_controller/smooth_stop.hpp"
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
#include // NOLINT
diff --git a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
similarity index 99%
rename from control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
rename to control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
index bd79d7a8c3ac3..de4d32008aa28 100644
--- a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
+++ b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
#include "gtest/gtest.h"
#include "interpolation/spherical_linear_interpolation.hpp"
#include "motion_utils/trajectory/conversion.hpp"
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
#include "tf2/LinearMath/Quaternion.h"
#include "autoware_planning_msgs/msg/trajectory.hpp"
diff --git a/control/pid_longitudinal_controller/test/test_pid.cpp b/control/autoware_pid_longitudinal_controller/test/test_pid.cpp
similarity index 97%
rename from control/pid_longitudinal_controller/test/test_pid.cpp
rename to control/autoware_pid_longitudinal_controller/test/test_pid.cpp
index 82d01e0028a9c..0e3e0c70945dc 100644
--- a/control/pid_longitudinal_controller/test/test_pid.cpp
+++ b/control/autoware_pid_longitudinal_controller/test/test_pid.cpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_pid_longitudinal_controller/pid.hpp"
#include "gtest/gtest.h"
-#include "pid_longitudinal_controller/pid.hpp"
#include
diff --git a/control/pid_longitudinal_controller/test/test_smooth_stop.cpp b/control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp
similarity index 98%
rename from control/pid_longitudinal_controller/test/test_smooth_stop.cpp
rename to control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp
index d658a5271d249..4f4fbb2354fa1 100644
--- a/control/pid_longitudinal_controller/test/test_smooth_stop.cpp
+++ b/control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
#include "gtest/gtest.h"
-#include "pid_longitudinal_controller/smooth_stop.hpp"
#include "rclcpp/rclcpp.hpp"
#include
diff --git a/control/smart_mpc_trajectory_follower/.gitignore b/control/autoware_smart_mpc_trajectory_follower/.gitignore
similarity index 100%
rename from control/smart_mpc_trajectory_follower/.gitignore
rename to control/autoware_smart_mpc_trajectory_follower/.gitignore
diff --git a/control/smart_mpc_trajectory_follower/CMakeLists.txt b/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt
similarity index 60%
rename from control/smart_mpc_trajectory_follower/CMakeLists.txt
rename to control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt
index 7aecab2597dcd..57e7b596790c2 100644
--- a/control/smart_mpc_trajectory_follower/CMakeLists.txt
+++ b/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt
@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 3.14)
-project(smart_mpc_trajectory_follower)
+project(autoware_smart_mpc_trajectory_follower)
find_package(autoware_cmake REQUIRED)
autoware_package()
install(PROGRAMS
- smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
+ autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
DESTINATION lib/${PROJECT_NAME}
)
ament_auto_package(
diff --git a/control/smart_mpc_trajectory_follower/README.md b/control/autoware_smart_mpc_trajectory_follower/README.md
similarity index 85%
rename from control/smart_mpc_trajectory_follower/README.md
rename to control/autoware_smart_mpc_trajectory_follower/README.md
index 8fcc13142d68b..fd135319ff900 100644
--- a/control/smart_mpc_trajectory_follower/README.md
+++ b/control/autoware_smart_mpc_trajectory_follower/README.md
@@ -19,7 +19,7 @@ This technology makes it relatively easy to operate model predictive control, wh
## Setup
-After building autoware, move to `control/smart_mpc_trajectory_follower` and run the following command:
+After building autoware, move to `control/autoware_smart_mpc_trajectory_follower` and run the following command:
```bash
pip3 install .
@@ -37,7 +37,7 @@ This package provides smart MPC logic for path-following control as well as mech
### Trajectory following control based on iLQR/MPPI
-The control mode can be selected from "ilqr", "mppi", or "mppi_ilqr", and can be set as `mpc_parameter:system:mode` in [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml).
+The control mode can be selected from "ilqr", "mppi", or "mppi_ilqr", and can be set as `mpc_parameter:system:mode` in [mpc_param.yaml](./autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml).
In "mppi_ilqr" mode, the initial value of iLQR is given by the MPPI solution.
> [!NOTE]
@@ -50,7 +50,7 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autowa
```
> [!NOTE]
-> When running with the nominal model set in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml), set `trained_model_parameter:control_application:use_trained_model` to `false` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). To run using the trained model, set `trained_model_parameter:control_application:use_trained_model` to `true`, but the trained model must have been generated according to the following procedure.
+> When running with the nominal model set in [nominal_param.yaml](./autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml), set `trained_model_parameter:control_application:use_trained_model` to `false` in [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml). To run using the trained model, set `trained_model_parameter:control_application:use_trained_model` to `true`, but the trained model must have been generated according to the following procedure.
### Training of model and reflection in control
@@ -60,7 +60,7 @@ To obtain training data, start autoware, perform a drive, and record rosbag data
ros2 bag record /localization/kinematic_state /localization/acceleration /vehicle/status/steering_status /control/command/control_cmd /control/trajectory_follower/control_cmd /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw /system/operation_mode/state /vehicle/status/control_mode /sensing/imu/imu_data /debug_mpc_x_des /debug_mpc_y_des /debug_mpc_v_des /debug_mpc_yaw_des /debug_mpc_acc_des /debug_mpc_steer_des /debug_mpc_X_des_converted /debug_mpc_x_current /debug_mpc_error_prediction /debug_mpc_max_trajectory_err /debug_mpc_emergency_stop_mode /debug_mpc_goal_stop_mode /debug_mpc_total_ctrl_time /debug_mpc_calc_u_opt_time
```
-Move [rosbag2.bash](./smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash) to the rosbag directory recorded above and execute the following command on the directory
+Move [rosbag2.bash](./autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash) to the rosbag directory recorded above and execute the following command on the directory
```bash
bash rosbag2.bash
@@ -75,7 +75,7 @@ This converts rosbag data into CSV format for training models.
Instead, the same result can be obtained by executing the following command in a python environment:
```python
-from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
model_trainer = train_drive_NN_model.train_drive_NN_model()
model_trainer.transform_rosbag_to_csv(rosbag_dir)
```
@@ -86,7 +86,7 @@ At this time, all CSV files in `rosbag_dir` are automatically deleted first.
The paths of the rosbag directories used for training, `dir_0`, `dir_1`, `dir_2`,... and the directory `save_dir` where you save the models, the model can be saved in the python environment as follows:
```python
-from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
model_trainer = train_drive_NN_model.train_drive_NN_model()
model_trainer.add_data_from_csv(dir_0)
model_trainer.add_data_from_csv(dir_1)
@@ -112,12 +112,12 @@ If only polynomial regression is performed and no NN model is used, run the foll
model_trainer.get_trained_model(use_polynomial_reg=True,force_NN_model_to_zero=True)
```
-Move `model_for_test_drive.pth` and `polynomial_reg_info.npz` saved in `save_dir` to the home directory and set `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) to `true` to reflect the trained model in the control.
+Move `model_for_test_drive.pth` and `polynomial_reg_info.npz` saved in `save_dir` to the home directory and set `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml) to `true` to reflect the trained model in the control.
### Performance evaluation
Here, as an example, we describe the verification of the adaptive performance when the wheel base of the sample_vehicle is 2.79 m, but an incorrect value of 2.0 m is given to the controller side.
-To give the controller 2.0 m as the wheel base, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.0, and run the following command:
+To give the controller 2.0 m as the wheel base, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.0, and run the following command:
```bash
python3 -m smart_mpc_trajectory_follower.clear_pycache
@@ -125,7 +125,7 @@ python3 -m smart_mpc_trajectory_follower.clear_pycache
#### Test on autoware
-To perform a control test on autoware with the nominal model before training, make sure that `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) is `false` and launch autoware in the manner described in "Trajectory following control based on iLQR/MPPI". This time, the following route will be used for the test:
+To perform a control test on autoware with the nominal model before training, make sure that `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml) is `false` and launch autoware in the manner described in "Trajectory following control based on iLQR/MPPI". This time, the following route will be used for the test:
@@ -136,7 +136,7 @@ Record rosbag and train the model in the manner described in "Training of model
To control using the trained model obtained here, set `trained_model_parameter:control_application:use_trained_model` to `true`, start autoware in the same way, and drive the same route recording rosbag.
After the driving is complete, convert the rosbag file to CSV format using the method described in "Training of model and reflection in control".
-A plot of the lateral deviation is obtained by running the `lateral_error_visualize` function in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb` for the nominal and training model rosbag files `rosbag_nominal` and `rosbag_trained`, respectively, as follows:
+A plot of the lateral deviation is obtained by running the `lateral_error_visualize` function in `control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb` for the nominal and training model rosbag files `rosbag_nominal` and `rosbag_trained`, respectively, as follows:
```python
lateral_error_visualize(dir_name=rosbag_nominal,ylim=[-1.2,1.2])
@@ -152,7 +152,7 @@ The following results were obtained.
#### Test on python simulator
-First, to give wheel base 2.79 m in the python simulator, create the following file and save it in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` with the name `sim_setting.json`:
+First, to give wheel base 2.79 m in the python simulator, create the following file and save it in `control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator` with the name `sim_setting.json`:
```json
{ "wheel_base": 2.79 }
@@ -162,7 +162,7 @@ Next, run the following commands to test the slalom driving on the python simula
```python
import python_simulator
-from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
initial_error = [0.0, 0.03, 0.01, -0.01, 0.0, 0.0]
save_dir = "test_python_sim"
python_simulator.slalom_drive(save_dir=save_dir,use_trained_model=False,initial_error=initial_error)
@@ -172,7 +172,7 @@ Here, `initial_error` is the initial error from the target trajectory, in the or
and `save_dir` is the directory where the driving test results are saved.
> [!NOTE]
-> The value of `use_trained_model` given as the argument of `python_simulator.slalom_drive` takes precedence over the value of `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml).
+> The value of `use_trained_model` given as the argument of `python_simulator.slalom_drive` takes precedence over the value of `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml).
Run the following commands to perform training using driving data of the nominal model.
@@ -211,21 +211,21 @@ It can be seen that the lateral deviation has improved significantly.
Here we have described wheel base, but the parameters that can be passed to the python simulator are as follows.
-| Parameter | Type | Description |
-| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| steer_bias | float | steer bias [rad] |
-| steer_rate_lim | float | steer rate limit [rad/s] |
-| vel_rate_lim | float | acceleration limit [m/s^2] |
-| wheel_base | float | wheel base [m] |
-| steer_dead_band | float | steer dead band [rad] |
-| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. |
-| acc_time_delay | float | acceleration time delay [s] |
-| steer_time_delay | float | steer time delay [s] |
-| acc_time_constant | float | acceleration time constant [s] |
-| steer_time_constant | float | steer time constant [s] |
-| accel_map_scale | float | Parameter that magnifies the corresponding distortion from acceleration input values to actual acceleration realizations.
Correspondence information is kept in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv`. |
-| acc_scaling | float | acceleration scaling |
-| steer_scaling | float | steer scaling |
+| Parameter | Type | Description |
+| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| steer_bias | float | steer bias [rad] |
+| steer_rate_lim | float | steer rate limit [rad/s] |
+| vel_rate_lim | float | acceleration limit [m/s^2] |
+| wheel_base | float | wheel base [m] |
+| steer_dead_band | float | steer dead band [rad] |
+| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. |
+| acc_time_delay | float | acceleration time delay [s] |
+| steer_time_delay | float | steer time delay [s] |
+| acc_time_constant | float | acceleration time constant [s] |
+| steer_time_constant | float | steer time constant [s] |
+| accel_map_scale | float | Parameter that magnifies the corresponding distortion from acceleration input values to actual acceleration realizations.
Correspondence information is kept in `control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/accel_map.csv`. |
+| acc_scaling | float | acceleration scaling |
+| steer_scaling | float | steer scaling |
For example, to give the simulation side 0.01 [rad] of steer bias and 0.001 [rad] of steer dead band, edit the `sim_setting.json` as follows.
@@ -237,13 +237,13 @@ For example, to give the simulation side 0.01 [rad] of steer bias and 0.001 [rad
Here, we describe a method for testing adaptive performance by giving the simulation side a predefined range of model parameters while the control side is given constant model parameters.
-First, to restore nominal model settings to default values, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.79, and run the following command:
+First, to restore nominal model settings to default values, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.79, and run the following command:
```bash
python3 -m smart_mpc_trajectory_follower.clear_pycache
```
-To run a driving experiment within the parameter change range set in [run_sim.py](./smart_mpc_trajectory_follower/python_simulator/run_sim.py), for example, move to `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` and run the following command:
+To run a driving experiment within the parameter change range set in [run_sim.py](./autoware_smart_mpc_trajectory_follower/python_simulator/run_sim.py), for example, move to `control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator` and run the following command:
```bash
python3 run_sim.py --param_name steer_bias
@@ -270,11 +270,11 @@ In `run_sim.py`, the following parameters can be set:
| USE_INTERCEPT | bool | When a polynomial regression including bias is performed, whether to use or discard the resulting bias information.
It is meaningful only if FIT_INTERCEPT is True.
If it is False, discard the bias in the polynomial regression in the hope that the NN model can remove the bias term, even if the polynomial regression is performed with the bias included. |
> [!NOTE]
-> When `run_sim.py` is run, the `use_trained_model_diff` set in `run_sim.py` takes precedence over the `trained_model_parameter:control_application:use_trained_model_diff` set in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml).
+> When `run_sim.py` is run, the `use_trained_model_diff` set in `run_sim.py` takes precedence over the `trained_model_parameter:control_application:use_trained_model_diff` set in [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml).
## Change of nominal parameters and their reloading
-The nominal parameters of vehicle model can be changed by editing the file [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml).
+The nominal parameters of vehicle model can be changed by editing the file [nominal_param.yaml](./autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml).
After changing the nominal parameters, the cache must be deleted by running the following command:
```bash
@@ -293,7 +293,7 @@ The nominal parameters include the following:
## Change of control parameters and their reloading
-The control parameters can be changed by editing files [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml) and [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml).
+The control parameters can be changed by editing files [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml) and [trained_model_param.yaml](./autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml).
Although it is possible to reflect parameter changes by restarting autoware, the following command allows us to do so without leaving autoware running:
```bash
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/.gitignore
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/.gitignore
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/__init__.py
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/__init__.py
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/clear_pycache.py
similarity index 88%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/clear_pycache.py
index fafcb5bdecf05..2458de3a80f99 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/clear_pycache.py
@@ -16,10 +16,10 @@
from pathlib import Path
import shutil
-import smart_mpc_trajectory_follower
+import autoware_smart_mpc_trajectory_follower
if __name__ == "__main__":
- package_dir = str(Path(smart_mpc_trajectory_follower.__file__).parent)
+ package_dir = str(Path(autoware_smart_mpc_trajectory_follower.__file__).parent)
remove_dirs = [
package_dir + "/__pycache__",
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/.gitignore
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/.gitignore
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/accel_map.csv
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/accel_map.csv
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/python_simulator.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/python_simulator.py
index d706c342f04ec..0eaa6ce1c0fbf 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/python_simulator.py
@@ -18,14 +18,14 @@
import datetime
import os
+from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
import matplotlib.pyplot as plt
from numba import njit
import numpy as np
import pandas as pd
import scipy.interpolate
import simplejson as json
-from smart_mpc_trajectory_follower.scripts import drive_controller
-from smart_mpc_trajectory_follower.scripts import drive_functions
print("\n\n### import python_simulator.py ###")
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py
similarity index 92%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py
index 6b477bb804ac9..68d8a9f64e73f 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py
@@ -12,9 +12,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
import numpy as np
import python_simulator
-from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
initial_error = np.array(
[0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias]
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_sim.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_sim.py
index 3125719556559..d2bb4ea26f0a6 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_sim.py
@@ -23,9 +23,9 @@
import traceback
from typing import Dict
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
import numpy as np
import python_simulator
-from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
parser = argparse.ArgumentParser()
parser.add_argument("--param_name", default=None)
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/.gitignore b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/.gitignore
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/.gitignore
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/.gitignore
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/__init__.py
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/__init__.py
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_GP.py
similarity index 98%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_GP.py
index e75eedcb4bf65..4d36afd3d4324 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_GP.py
@@ -16,9 +16,9 @@
from functools import partial
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
from numba import njit
import numpy as np
-from smart_mpc_trajectory_follower.scripts import drive_functions
sqrt_mpc_time_step = np.sqrt(drive_functions.mpc_time_step)
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_NN.py
similarity index 98%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_NN.py
index f35789ee39fd3..f13aa07b0f795 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_NN.py
@@ -13,9 +13,9 @@
# limitations under the License.
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
+from autoware_smart_mpc_trajectory_follower.scripts import proxima_calc
import numpy as np
-from smart_mpc_trajectory_follower.scripts import drive_functions
-from smart_mpc_trajectory_follower.scripts import proxima_calc
import torch
from torch import nn
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
index b21fcf72da931..228b0c37c5e7b 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
@@ -21,14 +21,14 @@
import threading
import time
+from autoware_smart_mpc_trajectory_follower.scripts import drive_GP
+from autoware_smart_mpc_trajectory_follower.scripts import drive_NN
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
+from autoware_smart_mpc_trajectory_follower.scripts import drive_iLQR
+from autoware_smart_mpc_trajectory_follower.scripts import drive_mppi
import numpy as np
import scipy.interpolate # type: ignore
from sklearn.preprocessing import PolynomialFeatures
-from smart_mpc_trajectory_follower.scripts import drive_GP
-from smart_mpc_trajectory_follower.scripts import drive_NN
-from smart_mpc_trajectory_follower.scripts import drive_functions
-from smart_mpc_trajectory_follower.scripts import drive_iLQR
-from smart_mpc_trajectory_follower.scripts import drive_mppi
import torch
ctrl_index_for_polynomial_reg = np.concatenate(
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_functions.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_functions.py
index c11b5c886b49a..fb96e134f7746 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_functions.py
@@ -31,7 +31,9 @@
with open(package_path_json, "r") as file:
package_path = json.load(file)
-mpc_param_path = package_path["path"] + "/smart_mpc_trajectory_follower/param/mpc_param.yaml"
+mpc_param_path = (
+ package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml"
+)
with open(mpc_param_path, "r") as yml:
mpc_param = yaml.safe_load(yml)
@@ -101,7 +103,7 @@
cap_pred_error = np.array(mpc_param["mpc_parameter"]["preprocessing"]["cap_pred_error"])
nominal_param_path = (
- package_path["path"] + "/smart_mpc_trajectory_follower/param/nominal_param.yaml"
+ package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml"
)
with open(nominal_param_path, "r") as yml:
nominal_param = yaml.safe_load(yml)
@@ -172,7 +174,7 @@
mpc_param["mpc_parameter"]["preprocessing"]["sg_window_size_for_nominal_inputs"]
)
trained_model_param_path = (
- package_path["path"] + "/smart_mpc_trajectory_follower/param/trained_model_param.yaml"
+ package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml"
)
with open(trained_model_param_path, "r") as yml:
trained_model_param = yaml.safe_load(yml)
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_iLQR.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_iLQR.py
index 261a72e680778..2307586f23552 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_iLQR.py
@@ -21,9 +21,9 @@
import time
from typing import Callable
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
from numba import njit
import numpy as np
-from smart_mpc_trajectory_follower.scripts import drive_functions
index_cost = np.concatenate(
(
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_mppi.py
similarity index 98%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_mppi.py
index ca6e6f15f42ef..5e88c79172097 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_mppi.py
@@ -16,9 +16,9 @@
from typing import Callable
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
from numba import njit
import numpy as np
-from smart_mpc_trajectory_follower.scripts import drive_functions
index_cost = np.concatenate(
(
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.cpp
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.cpp
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
index 992a5fd53a10c..78a120fe601f2 100755
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
@@ -22,6 +22,8 @@
from autoware_control_msgs.msg import Control
from autoware_planning_msgs.msg import Trajectory
from autoware_planning_msgs.msg import TrajectoryPoint
+from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
from autoware_vehicle_msgs.msg import SteeringReport
from builtin_interfaces.msg import Duration
from geometry_msgs.msg import AccelWithCovarianceStamped
@@ -34,8 +36,6 @@
import scipy.interpolate
from scipy.spatial.transform import Rotation as R
from scipy.spatial.transform import Slerp
-from smart_mpc_trajectory_follower.scripts import drive_controller
-from smart_mpc_trajectory_follower.scripts import drive_functions
from std_msgs.msg import String
from tier4_debug_msgs.msg import BoolStamped
from tier4_debug_msgs.msg import Float32MultiArrayStamped
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/.gitignore
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/.gitignore
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/__init__.py
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/__init__.py
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py
similarity index 98%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py
index 3f6ef7a9f78d1..5338f3cbaddce 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py
@@ -23,11 +23,11 @@
import os
from pathlib import Path
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
import numpy as np
import scipy.interpolate
from scipy.ndimage import gaussian_filter
from scipy.spatial.transform import Rotation
-from smart_mpc_trajectory_follower.scripts import drive_functions
def data_smoothing(data: np.ndarray, sigma: float) -> np.ndarray:
@@ -76,7 +76,7 @@ def transform_rosbag_to_csv(self, dir_name: str, delete_csv_first: bool = True)
os.system(
"cp "
+ package_path["path"]
- + "/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash "
+ + "/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash "
+ dir_name
)
os.chdir(dir_name)
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py
similarity index 100%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py
diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py
similarity index 99%
rename from control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py
rename to control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py
index 269b577f83c25..449ddda45f460 100644
--- a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py
@@ -15,13 +15,15 @@
# cspell: ignore optim savez suptitle
"""Class for training neural nets from driving data."""
+from autoware_smart_mpc_trajectory_follower.scripts import drive_NN
+from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
+from autoware_smart_mpc_trajectory_follower.training_and_data_check import (
+ add_training_data_from_csv,
+)
import matplotlib.pyplot as plt
import numpy as np
from sklearn import linear_model
from sklearn.preprocessing import PolynomialFeatures
-from smart_mpc_trajectory_follower.scripts import drive_NN
-from smart_mpc_trajectory_follower.scripts import drive_functions
-from smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv
import torch
from torch import nn
from torch.utils.data import DataLoader
diff --git a/control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png b/control/autoware_smart_mpc_trajectory_follower/images/autoware_smart_mpc.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png
rename to control/autoware_smart_mpc_trajectory_follower/images/autoware_smart_mpc.png
diff --git a/control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png b/control/autoware_smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png
rename to control/autoware_smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png
diff --git a/control/smart_mpc_trajectory_follower/images/lateral_error_trained_model.png b/control/autoware_smart_mpc_trajectory_follower/images/lateral_error_trained_model.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/lateral_error_trained_model.png
rename to control/autoware_smart_mpc_trajectory_follower/images/lateral_error_trained_model.png
diff --git a/control/smart_mpc_trajectory_follower/images/proxima_logo.png b/control/autoware_smart_mpc_trajectory_follower/images/proxima_logo.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/proxima_logo.png
rename to control/autoware_smart_mpc_trajectory_follower/images/proxima_logo.png
diff --git a/control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_nominal_model.png b/control/autoware_smart_mpc_trajectory_follower/images/python_sim_lateral_error_nominal_model.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_nominal_model.png
rename to control/autoware_smart_mpc_trajectory_follower/images/python_sim_lateral_error_nominal_model.png
diff --git a/control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png b/control/autoware_smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png
rename to control/autoware_smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png
diff --git a/control/smart_mpc_trajectory_follower/images/test_route.png b/control/autoware_smart_mpc_trajectory_follower/images/test_route.png
similarity index 100%
rename from control/smart_mpc_trajectory_follower/images/test_route.png
rename to control/autoware_smart_mpc_trajectory_follower/images/test_route.png
diff --git a/control/smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml
similarity index 84%
rename from control/smart_mpc_trajectory_follower/package.xml
rename to control/autoware_smart_mpc_trajectory_follower/package.xml
index 6cdd689c8bd5a..a05f06cd865ff 100644
--- a/control/smart_mpc_trajectory_follower/package.xml
+++ b/control/autoware_smart_mpc_trajectory_follower/package.xml
@@ -1,12 +1,15 @@
- smart_mpc_trajectory_follower
+ autoware_smart_mpc_trajectory_follower
1.0.0
Nodes to follow a trajectory by generating control commands using smart mpc
Masayuki Aino
+ Kosuke Takeuchi
+ Takamasa Horibe
+ Takayuki Murooka
Apache License 2.0
diff --git a/control/smart_mpc_trajectory_follower/setup.py b/control/autoware_smart_mpc_trajectory_follower/setup.py
similarity index 60%
rename from control/smart_mpc_trajectory_follower/setup.py
rename to control/autoware_smart_mpc_trajectory_follower/setup.py
index 4dca4d72929a8..fee1d04e826c0 100644
--- a/control/smart_mpc_trajectory_follower/setup.py
+++ b/control/autoware_smart_mpc_trajectory_follower/setup.py
@@ -13,25 +13,25 @@
os.system("pip3 install torch")
package_path = {}
package_path["path"] = str(Path(__file__).parent)
-with open("smart_mpc_trajectory_follower/package_path.json", "w") as f:
+with open("autoware_smart_mpc_trajectory_follower/package_path.json", "w") as f:
json.dump(package_path, f)
build_cpp_command = "g++ -Ofast -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) "
-build_cpp_command += "smart_mpc_trajectory_follower/scripts/proxima_calc.cpp "
-build_cpp_command += (
- "-o smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) "
-)
+build_cpp_command += "autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.cpp "
+build_cpp_command += "-o autoware_smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) "
build_cpp_command += "-lrt -I/usr/include/eigen3"
os.system(build_cpp_command)
so_path = (
"scripts/"
- + glob.glob("smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[-1]
+ + glob.glob("autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[
+ -1
+ ]
)
setup(
name="smart_mpc_trajectory_follower",
version="1.0.0",
packages=find_packages(),
package_data={
- "smart_mpc_trajectory_follower": ["package_path.json", so_path],
+ "autoware_smart_mpc_trajectory_follower": ["package_path.json", so_path],
},
)
diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/autoware_vehicle_cmd_gate/CMakeLists.txt
similarity index 93%
rename from control/vehicle_cmd_gate/CMakeLists.txt
rename to control/autoware_vehicle_cmd_gate/CMakeLists.txt
index c5db663ccc77e..7233608a5d25f 100644
--- a/control/vehicle_cmd_gate/CMakeLists.txt
+++ b/control/autoware_vehicle_cmd_gate/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(vehicle_cmd_gate)
+project(autoware_vehicle_cmd_gate)
find_package(autoware_cmake REQUIRED)
autoware_package()
@@ -12,7 +12,7 @@ ament_auto_add_library(vehicle_cmd_gate_node SHARED
)
rclcpp_components_register_node(vehicle_cmd_gate_node
- PLUGIN "vehicle_cmd_gate::VehicleCmdGate"
+ PLUGIN "autoware::vehicle_cmd_gate::VehicleCmdGate"
EXECUTABLE vehicle_cmd_gate_exe
)
diff --git a/control/vehicle_cmd_gate/README.md b/control/autoware_vehicle_cmd_gate/README.md
similarity index 100%
rename from control/vehicle_cmd_gate/README.md
rename to control/autoware_vehicle_cmd_gate/README.md
diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
similarity index 100%
rename from control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
rename to control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
diff --git a/control/vehicle_cmd_gate/image/filter.png b/control/autoware_vehicle_cmd_gate/image/filter.png
similarity index 100%
rename from control/vehicle_cmd_gate/image/filter.png
rename to control/autoware_vehicle_cmd_gate/image/filter.png
diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
similarity index 89%
rename from control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
rename to control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
index c5368276b488a..c9df4e67c2647 100644
--- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
+++ b/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
@@ -1,11 +1,11 @@
-
+
-
+
-
+
diff --git a/control/vehicle_cmd_gate/msg/IsFilterActivated.msg b/control/autoware_vehicle_cmd_gate/msg/IsFilterActivated.msg
similarity index 100%
rename from control/vehicle_cmd_gate/msg/IsFilterActivated.msg
rename to control/autoware_vehicle_cmd_gate/msg/IsFilterActivated.msg
diff --git a/control/vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
similarity index 95%
rename from control/vehicle_cmd_gate/package.xml
rename to control/autoware_vehicle_cmd_gate/package.xml
index e01d566c37df9..f67d01a5593ae 100644
--- a/control/vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -1,7 +1,7 @@
- vehicle_cmd_gate
+ autoware_vehicle_cmd_gate
0.1.0
The vehicle_cmd_gate package
Takamasa Horibe
@@ -17,6 +17,7 @@
autoware_adapi_v1_msgs
autoware_control_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
component_interface_specs
component_interface_utils
@@ -33,7 +34,6 @@
tier4_external_api_msgs
tier4_system_msgs
tier4_vehicle_msgs
- vehicle_info_util
visualization_msgs
rosidl_default_runtime
diff --git a/control/vehicle_cmd_gate/schema/vehicle_cmd_gate.json b/control/autoware_vehicle_cmd_gate/schema/vehicle_cmd_gate.json
similarity index 100%
rename from control/vehicle_cmd_gate/schema/vehicle_cmd_gate.json
rename to control/autoware_vehicle_cmd_gate/schema/vehicle_cmd_gate.json
diff --git a/control/vehicle_cmd_gate/script/delays_checker.py b/control/autoware_vehicle_cmd_gate/script/delays_checker.py
similarity index 100%
rename from control/vehicle_cmd_gate/script/delays_checker.py
rename to control/autoware_vehicle_cmd_gate/script/delays_checker.py
diff --git a/control/vehicle_cmd_gate/src/adapi_pause_interface.cpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/adapi_pause_interface.cpp
rename to control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
index f4cf28d337a09..f14a62fba9661 100644
--- a/control/vehicle_cmd_gate/src/adapi_pause_interface.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
@@ -14,7 +14,7 @@
#include "adapi_pause_interface.hpp"
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
AdapiPauseInterface::AdapiPauseInterface(rclcpp::Node * node) : node_(node)
@@ -65,4 +65,4 @@ void AdapiPauseInterface::on_pause(
res->status.success = true;
}
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/adapi_pause_interface.hpp
rename to control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
index 1d5f05e98975e..d75b544752e3f 100644
--- a/control/vehicle_cmd_gate/src/adapi_pause_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
@@ -21,7 +21,7 @@
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
class AdapiPauseInterface
@@ -55,6 +55,6 @@ class AdapiPauseInterface
const SetPause::Service::Response::SharedPtr res);
};
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#endif // ADAPI_PAUSE_INTERFACE_HPP_
diff --git a/control/vehicle_cmd_gate/src/marker_helper.hpp b/control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
similarity index 97%
rename from control/vehicle_cmd_gate/src/marker_helper.hpp
rename to control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
index 44c43a3630151..c9d7e86fa23dd 100644
--- a/control/vehicle_cmd_gate/src/marker_helper.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
@@ -21,7 +21,7 @@
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z)
{
@@ -114,6 +114,6 @@ inline void appendMarkerArray(
marker_array->markers.push_back(marker);
}
}
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#endif // MARKER_HELPER_HPP_
diff --git a/control/vehicle_cmd_gate/src/moderate_stop_interface.cpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/moderate_stop_interface.cpp
rename to control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
index 72dbdfd26a6b3..0fe90adfd0a72 100644
--- a/control/vehicle_cmd_gate/src/moderate_stop_interface.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
@@ -14,7 +14,7 @@
#include "moderate_stop_interface.hpp"
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
ModerateStopInterface::ModerateStopInterface(rclcpp::Node * node) : node_(node)
@@ -66,4 +66,4 @@ void ModerateStopInterface::update_stop_state()
}
}
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/moderate_stop_interface.hpp
rename to control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
index b643afc212f61..012e75d0c207e 100644
--- a/control/vehicle_cmd_gate/src/moderate_stop_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
@@ -22,7 +22,7 @@
#include
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
class ModerateStopInterface
@@ -53,6 +53,6 @@ class ModerateStopInterface
void update_stop_state();
};
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#endif // MODERATE_STOP_INTERFACE_HPP_
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
similarity index 99%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
index bd9955e773020..cec23b05b8191 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
@@ -17,7 +17,7 @@
#include
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
VehicleCmdFilter::VehicleCmdFilter()
@@ -319,4 +319,4 @@ double VehicleCmdFilter::getSteerDiffLim() const
return interpolateFromSpeed(param_.actual_steer_diff_lim);
}
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
similarity index 94%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
index d9b8383a1de51..96663474f47a4 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
@@ -15,17 +15,17 @@
#ifndef VEHICLE_CMD_FILTER_HPP_
#define VEHICLE_CMD_FILTER_HPP_
+#include
#include
-#include
#include
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::msg::IsFilterActivated;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
using LimitArray = std::vector;
struct VehicleCmdFilterParam
@@ -98,6 +98,6 @@ class VehicleCmdFilter
double getSteerRateLim() const;
double getSteerDiffLim() const;
};
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#endif // VEHICLE_CMD_FILTER_HPP_
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
similarity index 98%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index cc9d7813083f4..bb50dcb586e83 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -28,7 +28,7 @@
#include
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
namespace
@@ -170,7 +170,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
declare_parameter("filter_activated_velocity_threshold");
// Vehicle Parameter
- const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+ const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
{
VehicleCmdFilterParam p;
p.wheel_base = vehicle_info.wheel_base_m;
@@ -276,7 +276,7 @@ rcl_interfaces::msg::SetParametersResult VehicleCmdGate::onParameter(
parameters, "filter_activated_velocity_threshold", filter_activated_velocity_threshold_);
// Vehicle Parameter
- const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+ const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
{
VehicleCmdFilterParam p = filter_.getParam();
p.wheel_base = vehicle_info.wheel_base_m;
@@ -906,7 +906,7 @@ void VehicleCmdGate::publishMarkers(const IsFilterActivated & filter_activated)
filter_activated_flag_pub_->publish(filter_activated_flag);
filter_activated_marker_raw_pub_->publish(createMarkerArray(filter_activated));
}
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#include
-RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_cmd_gate::VehicleCmdGate)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_cmd_gate::VehicleCmdGate)
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
similarity index 97%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index f45280d9d2e48..06dad536d842d 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -20,12 +20,12 @@
#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
#include "vehicle_cmd_filter.hpp"
+#include
+#include
#include
#include
#include
#include
-#include
-#include
#include
#include
@@ -51,13 +51,14 @@
#include
#include
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
{
using autoware_adapi_v1_msgs::msg::MrmState;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_control_msgs::msg::Control;
using autoware_control_msgs::msg::Longitudinal;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
using autoware_vehicle_msgs::msg::GearCommand;
using autoware_vehicle_msgs::msg::HazardLightsCommand;
using autoware_vehicle_msgs::msg::SteeringReport;
@@ -71,7 +72,6 @@ using tier4_external_api_msgs::msg::Heartbeat;
using tier4_external_api_msgs::srv::SetEmergency;
using tier4_system_msgs::msg::MrmBehaviorStatus;
using tier4_vehicle_msgs::msg::VehicleEmergencyStamped;
-using vehicle_cmd_gate::msg::IsFilterActivated;
using visualization_msgs::msg::MarkerArray;
using diagnostic_msgs::msg::DiagnosticStatus;
@@ -257,5 +257,5 @@ class VehicleCmdGate : public rclcpp::Node
std::unique_ptr published_time_publisher_;
};
-} // namespace vehicle_cmd_gate
+} // namespace autoware::vehicle_cmd_gate
#endif // VEHICLE_CMD_GATE_HPP_
diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
similarity index 98%
rename from control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
index d51db90c8a260..46130fc8f9941 100644
--- a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
+++ b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
@@ -54,7 +54,7 @@ const std::vector lat_jerk_lim = {1.7, 1.3, 0.9, 0.6};
const std::vector actual_steer_diff_lim = {0.5, 0.4, 0.2, 0.1};
const double wheelbase = 2.89;
-using vehicle_cmd_gate::VehicleCmdGate;
+using autoware::vehicle_cmd_gate::VehicleCmdGate;
using autoware_adapi_v1_msgs::msg::MrmState;
using autoware_adapi_v1_msgs::msg::OperationModeState;
@@ -369,9 +369,9 @@ std::shared_ptr generateNode()
auto node_options = rclcpp::NodeOptions{};
const auto vehicle_cmd_gate_dir =
- ament_index_cpp::get_package_share_directory("vehicle_cmd_gate");
+ ament_index_cpp::get_package_share_directory("autoware_vehicle_cmd_gate");
const auto vehicle_info_util_dir =
- ament_index_cpp::get_package_share_directory("vehicle_info_util");
+ ament_index_cpp::get_package_share_directory("autoware_vehicle_info_utils");
node_options.arguments(
{"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml",
diff --git a/control/vehicle_cmd_gate/test/src/test_main.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_main.cpp
similarity index 100%
rename from control/vehicle_cmd_gate/test/src/test_main.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_main.cpp
diff --git a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
similarity index 98%
rename from control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
index 5fbab1c5cfb4f..528253671b38a 100644
--- a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
+++ b/control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
@@ -24,17 +24,17 @@
#define ASSERT_LT_NEAR(x, y) ASSERT_LT(x, y + THRESHOLD)
#define ASSERT_GT_NEAR(x, y) ASSERT_GT(x, y - THRESHOLD)
+using autoware::vehicle_cmd_gate::LimitArray;
using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::LimitArray;
constexpr double NOMINAL_INTERVAL = 1.0;
void setFilterParams(
- vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
+ autoware::vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, LimitArray steer_lim,
LimitArray steer_rate_lim, const double wheelbase)
{
- vehicle_cmd_gate::VehicleCmdFilterParam p;
+ autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
p.vel_lim = v;
p.wheel_base = wheelbase;
p.reference_speed_points = speed_points;
@@ -105,7 +105,7 @@ void test_1d_limit(
const double WHEELBASE = 3.0;
const double DT = 0.1; // [s]
- vehicle_cmd_gate::VehicleCmdFilter filter;
+ autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
filter.setCurrentSpeed(ego_v);
setFilterParams(
filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, {STEER_LIM},
@@ -275,9 +275,9 @@ TEST(VehicleCmdFilter, VehicleCmdFilter)
TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate)
{
constexpr double WHEELBASE = 2.8;
- vehicle_cmd_gate::VehicleCmdFilter filter;
+ autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
- vehicle_cmd_gate::VehicleCmdFilterParam p;
+ autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
p.wheel_base = WHEELBASE;
p.vel_lim = 20.0;
p.reference_speed_points = std::vector{2.0, 4.0, 10.0};
diff --git a/control/control_performance_analysis/launch/control_performance_analysis.launch.xml b/control/control_performance_analysis/launch/control_performance_analysis.launch.xml
index be2b30bdf1bf9..f2997f0e10b83 100644
--- a/control/control_performance_analysis/launch/control_performance_analysis.launch.xml
+++ b/control/control_performance_analysis/launch/control_performance_analysis.launch.xml
@@ -8,7 +8,7 @@
-
+
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index a26f4164a177b..b18fb8c98ccdc 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -26,6 +26,7 @@
autoware_control_msgs
autoware_planning_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
geometry_msgs
libboost-dev
@@ -41,7 +42,6 @@
tf2_ros
tier4_autoware_utils
tier4_debug_msgs
- vehicle_info_util
builtin_interfaces
global_parameter_loader
rosidl_default_runtime
diff --git a/control/control_performance_analysis/src/control_performance_analysis_node.cpp b/control/control_performance_analysis/src/control_performance_analysis_node.cpp
index 693194e8b70a6..47ce3ce07e83c 100644
--- a/control/control_performance_analysis/src/control_performance_analysis_node.cpp
+++ b/control/control_performance_analysis/src/control_performance_analysis_node.cpp
@@ -17,7 +17,7 @@
#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
#include "control_performance_analysis/msg/error_stamped.hpp"
-#include
+#include
#include
#include
@@ -32,7 +32,7 @@ using control_performance_analysis::msg::ErrorStamped;
namespace control_performance_analysis
{
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
const rclcpp::NodeOptions & node_options)
@@ -41,7 +41,7 @@ ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
using std::placeholders::_1;
// Implement Reading Global and Local Variables.
- const auto & vehicle_info = VehicleInfoUtil(*this).getVehicleInfo();
+ const auto & vehicle_info = VehicleInfoUtils(*this).getVehicleInfo();
param_.wheelbase_ = vehicle_info.wheel_base_m;
// Node Parameters.
diff --git a/control/control_validator/include/control_validator/control_validator.hpp b/control/control_validator/include/control_validator/control_validator.hpp
index e048ef03bf11a..56125cc40b74e 100644
--- a/control/control_validator/include/control_validator/control_validator.hpp
+++ b/control/control_validator/include/control_validator/control_validator.hpp
@@ -15,9 +15,9 @@
#ifndef CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
#define CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
+#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
#include "control_validator/debug_marker.hpp"
#include "control_validator/msg/control_validator_status.hpp"
-#include "vehicle_info_util/vehicle_info_util.hpp"
#include
#include
@@ -83,7 +83,7 @@ class ControlValidator : public rclcpp::Node
ControlValidatorStatus validation_status_;
ValidationParams validation_params_; // for thresholds
- vehicle_info_util::VehicleInfo vehicle_info_;
+ autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
bool isAllValid(const ControlValidatorStatus & status);
diff --git a/control/control_validator/package.xml b/control/control_validator/package.xml
index 2f4400d6ebc57..93779d28d6218 100644
--- a/control/control_validator/package.xml
+++ b/control/control_validator/package.xml
@@ -21,6 +21,7 @@
rosidl_default_generators
autoware_planning_msgs
+ autoware_vehicle_info_utils
diagnostic_updater
geometry_msgs
motion_utils
@@ -28,7 +29,6 @@
rclcpp
rclcpp_components
tier4_autoware_utils
- vehicle_info_util
visualization_msgs
ament_cmake_ros
diff --git a/control/control_validator/src/control_validator.cpp b/control/control_validator/src/control_validator.cpp
index 5282e31fef898..be103647f1b36 100644
--- a/control/control_validator/src/control_validator.cpp
+++ b/control/control_validator/src/control_validator.cpp
@@ -61,7 +61,7 @@ void ControlValidator::setupParameters()
}
try {
- vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+ vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
} catch (...) {
RCLCPP_ERROR(get_logger(), "failed to get vehicle info. use default value.");
vehicle_info_.front_overhang_m = 0.5;
diff --git a/control/external_cmd_selector/CMakeLists.txt b/control/external_cmd_selector/CMakeLists.txt
deleted file mode 100644
index 5c4860b7441f3..0000000000000
--- a/control/external_cmd_selector/CMakeLists.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(external_cmd_selector)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(external_cmd_selector_node SHARED
- src/external_cmd_selector/external_cmd_selector_node.cpp
-)
-
-rclcpp_components_register_node(external_cmd_selector_node
- PLUGIN "ExternalCmdSelector"
- EXECUTABLE external_cmd_selector
-)
-
-ament_auto_package(INSTALL_TO_SHARE
- launch
- config
-)
diff --git a/control/joy_controller/CMakeLists.txt b/control/joy_controller/CMakeLists.txt
deleted file mode 100644
index f000c8c0909f4..0000000000000
--- a/control/joy_controller/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(joy_controller)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(joy_controller_node SHARED
- src/joy_controller/joy_controller_node.cpp
-)
-
-rclcpp_components_register_node(joy_controller_node
- PLUGIN "joy_controller::AutowareJoyControllerNode"
- EXECUTABLE joy_controller
-)
-
-ament_auto_package(
- INSTALL_TO_SHARE
- launch
- config
-)
diff --git a/control/joy_controller/launch/joy_controller_param_selection.launch.xml b/control/joy_controller/launch/joy_controller_param_selection.launch.xml
deleted file mode 100644
index d8e3d0bfe8b25..0000000000000
--- a/control/joy_controller/launch/joy_controller_param_selection.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-
-
-
-
-
diff --git a/control/lane_departure_checker/CMakeLists.txt b/control/lane_departure_checker/CMakeLists.txt
index 874670c478240..d545e1cbb5ad1 100644
--- a/control/lane_departure_checker/CMakeLists.txt
+++ b/control/lane_departure_checker/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
-project(lane_departure_checker)
+project(autoware_lane_departure_checker)
find_package(autoware_cmake REQUIRED)
autoware_package()
@@ -10,13 +10,13 @@ include_directories(
${EIGEN3_INCLUDE_DIRS}
)
-ament_auto_add_library(lane_departure_checker SHARED
+ament_auto_add_library(autoware_lane_departure_checker SHARED
src/lane_departure_checker_node/lane_departure_checker.cpp
src/lane_departure_checker_node/lane_departure_checker_node.cpp
)
-rclcpp_components_register_node(lane_departure_checker
- PLUGIN "lane_departure_checker::LaneDepartureCheckerNode"
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "autoware::lane_departure_checker::LaneDepartureCheckerNode"
EXECUTABLE lane_departure_checker_node
)
diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
similarity index 87%
rename from control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
index 967cb65c8efa8..e29623bf69891 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
@@ -12,13 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
-#define LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#include
#include
#include
#include
-#include
#include
#include
@@ -45,7 +45,7 @@
#include
#include
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
{
using autoware_planning_msgs::msg::LaneletRoute;
using autoware_planning_msgs::msg::Trajectory;
@@ -103,17 +103,17 @@ class LaneDepartureChecker
public:
Output update(const Input & input);
- void setParam(const Param & param, const vehicle_info_util::VehicleInfo vehicle_info)
+ void setParam(const Param & param, const autoware::vehicle_info_utils::VehicleInfo vehicle_info)
{
param_ = param;
- vehicle_info_ptr_ = std::make_shared(vehicle_info);
+ vehicle_info_ptr_ = std::make_shared(vehicle_info);
}
void setParam(const Param & param) { param_ = param; }
- void setVehicleInfo(const vehicle_info_util::VehicleInfo vehicle_info)
+ void setVehicleInfo(const autoware::vehicle_info_utils::VehicleInfo vehicle_info)
{
- vehicle_info_ptr_ = std::make_shared(vehicle_info);
+ vehicle_info_ptr_ = std::make_shared(vehicle_info);
}
bool checkPathWillLeaveLane(
@@ -137,7 +137,7 @@ class LaneDepartureChecker
private:
Param param_;
- std::shared_ptr vehicle_info_ptr_;
+ std::shared_ptr vehicle_info_ptr_;
static PoseDeviation calcTrajectoryDeviation(
const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose,
@@ -170,6 +170,6 @@ class LaneDepartureChecker
const std::vector & vehicle_footprints,
const SegmentRtree & uncrossable_segments);
};
-} // namespace lane_departure_checker
+} // namespace autoware::lane_departure_checker
-#endif // LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#endif // AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
similarity index 81%
rename from control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
index 0f0e15d0a4f62..d37ef30d6b8e8 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
@@ -12,10 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
-#define LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
-#include "lane_departure_checker/lane_departure_checker.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker.hpp"
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
#include
#include
@@ -40,7 +41,7 @@
#include
#include
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
{
using autoware_map_msgs::msg::LaneletMapBin;
@@ -66,11 +67,16 @@ class LaneDepartureCheckerNode : public rclcpp::Node
private:
// Subscriber
- rclcpp::Subscription::SharedPtr sub_odom_;
- rclcpp::Subscription::SharedPtr sub_lanelet_map_bin_;
- rclcpp::Subscription::SharedPtr sub_route_;
- rclcpp::Subscription::SharedPtr sub_reference_trajectory_;
- rclcpp::Subscription::SharedPtr sub_predicted_trajectory_;
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_odom_{
+ this, "~/input/odometry"};
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_lanelet_map_bin_{
+ this, "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local()};
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_route_{
+ this, "~/input/route"};
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_reference_trajectory_{
+ this, "~/input/reference_trajectory"};
+ tier4_autoware_utils::InterProcessPollingSubscriber sub_predicted_trajectory_{
+ this, "~/input/predicted_trajectory"};
// Data Buffer
nav_msgs::msg::Odometry::ConstSharedPtr current_odom_;
@@ -149,6 +155,6 @@ class LaneDepartureCheckerNode : public rclcpp::Node
lanelet::Lanelets getRightOppositeLanelets(const lanelet::ConstLanelet & lanelet);
};
-} // namespace lane_departure_checker
+} // namespace autoware::lane_departure_checker
-#endif // LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#endif // AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
diff --git a/control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
similarity index 89%
rename from control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
index edc62cd6659fd..c85e37212b16f 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
@@ -25,12 +25,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
-#define LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
#include
+#include
#include
-#include
#include
@@ -63,4 +63,4 @@ inline FootprintMargin calcFootprintMargin(
return FootprintMargin{Cov_xy_vehicle(0, 0) * scale, Cov_xy_vehicle(1, 1) * scale};
}
-#endif // LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#endif // AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
diff --git a/control/lane_departure_checker/launch/lane_departure_checker.launch.xml b/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
index 62799c1187651..b9f820f66690b 100644
--- a/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
+++ b/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
@@ -4,12 +4,12 @@
-
+
-
+
-
+
diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml
index 73955613d21a9..7a08cd2907120 100644
--- a/control/lane_departure_checker/package.xml
+++ b/control/lane_departure_checker/package.xml
@@ -1,11 +1,13 @@
- lane_departure_checker
+ autoware_lane_departure_checker
0.1.0
- The lane_departure_checker package
+ The autoware_lane_departure_checker package
Kyoichi Sugahara
Makoto Kurihara
+ Zulfaqar Azmi
+
Apache License 2.0
ament_cmake_auto
@@ -13,6 +15,7 @@
autoware_map_msgs
autoware_planning_msgs
+ autoware_vehicle_info_utils
boost
diagnostic_updater
eigen
@@ -28,7 +31,6 @@
tf2_ros
tier4_autoware_utils
tier4_debug_msgs
- vehicle_info_util
ament_lint_auto
autoware_lint_common
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
index eb5d674705aaa..5e90df6773b87 100644
--- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
+++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
@@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "lane_departure_checker/lane_departure_checker.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker.hpp"
-#include "lane_departure_checker/util/create_vehicle_footprint.hpp"
+#include "autoware_lane_departure_checker/util/create_vehicle_footprint.hpp"
#include
#include
@@ -96,7 +96,7 @@ lanelet::ConstLanelets getCandidateLanelets(
} // namespace
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
{
Output LaneDepartureChecker::update(const Input & input)
{
@@ -460,4 +460,4 @@ bool LaneDepartureChecker::willCrossBoundary(
return false;
}
-} // namespace lane_departure_checker
+} // namespace autoware::lane_departure_checker
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index c3fd1d314e371..b25b3fd843f4b 100644
--- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "lane_departure_checker/lane_departure_checker_node.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker_node.hpp"
#include
#include
@@ -120,7 +120,7 @@ void update_param(
} // namespace
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
{
LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & options)
: Node("lane_departure_checker_node", options)
@@ -145,7 +145,7 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
declare_parameter>("boundary_types_to_detect");
// Vehicle Info
- const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+ const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
vehicle_length_m_ = vehicle_info.vehicle_length_m;
// Core Parameter
@@ -169,22 +169,6 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
lane_departure_checker_ = std::make_unique();
lane_departure_checker_->setParam(param_, vehicle_info);
- // Subscriber
- sub_odom_ = this->create_subscription(
- "~/input/odometry", 1, std::bind(&LaneDepartureCheckerNode::onOdometry, this, _1));
- sub_lanelet_map_bin_ = this->create_subscription(
- "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local(),
- std::bind(&LaneDepartureCheckerNode::onLaneletMapBin, this, _1));
- sub_route_ = this->create_subscription(
- "~/input/route", rclcpp::QoS{1}.transient_local(),
- std::bind(&LaneDepartureCheckerNode::onRoute, this, _1));
- sub_reference_trajectory_ = this->create_subscription(
- "~/input/reference_trajectory", 1,
- std::bind(&LaneDepartureCheckerNode::onReferenceTrajectory, this, _1));
- sub_predicted_trajectory_ = this->create_subscription(
- "~/input/predicted_trajectory", 1,
- std::bind(&LaneDepartureCheckerNode::onPredictedTrajectory, this, _1));
-
// Publisher
// Nothing
@@ -201,36 +185,6 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
this, get_clock(), period_ns, std::bind(&LaneDepartureCheckerNode::onTimer, this));
}
-void LaneDepartureCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
-{
- current_odom_ = msg;
-}
-
-void LaneDepartureCheckerNode::onLaneletMapBin(const LaneletMapBin::ConstSharedPtr msg)
-{
- lanelet_map_ = std::make_shared();
- lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_, &traffic_rules_, &routing_graph_);
-
- // get all shoulder lanes
- lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_);
- shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets);
-}
-
-void LaneDepartureCheckerNode::onRoute(const LaneletRoute::ConstSharedPtr msg)
-{
- route_ = msg;
-}
-
-void LaneDepartureCheckerNode::onReferenceTrajectory(const Trajectory::ConstSharedPtr msg)
-{
- reference_trajectory_ = msg;
-}
-
-void LaneDepartureCheckerNode::onPredictedTrajectory(const Trajectory::ConstSharedPtr msg)
-{
- predicted_trajectory_ = msg;
-}
-
bool LaneDepartureCheckerNode::isDataReady()
{
if (!current_odom_) {
@@ -300,6 +254,22 @@ void LaneDepartureCheckerNode::onTimer()
tier4_autoware_utils::StopWatch stop_watch;
stop_watch.tic("Total");
+ current_odom_ = sub_odom_.takeData();
+ route_ = sub_route_.takeData();
+ reference_trajectory_ = sub_reference_trajectory_.takeData();
+ predicted_trajectory_ = sub_predicted_trajectory_.takeData();
+
+ const auto lanelet_map_bin_msg = sub_lanelet_map_bin_.takeData();
+ if (lanelet_map_bin_msg) {
+ lanelet_map_ = std::make_shared();
+ lanelet::utils::conversion::fromBinMsg(
+ *lanelet_map_bin_msg, lanelet_map_, &traffic_rules_, &routing_graph_);
+
+ // get all shoulder lanes
+ lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_);
+ shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets);
+ }
+
if (!isDataReady()) {
return;
}
@@ -759,7 +729,7 @@ lanelet::Lanelets LaneDepartureCheckerNode::getRightOppositeLanelets(
return opposite_lanelets;
}
-} // namespace lane_departure_checker
+} // namespace autoware::lane_departure_checker
#include
-RCLCPP_COMPONENTS_REGISTER_NODE(lane_departure_checker::LaneDepartureCheckerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lane_departure_checker::LaneDepartureCheckerNode)
diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
index a65d818056bd7..efaefd765e793 100644
--- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
+++ b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
@@ -15,8 +15,8 @@
#ifndef OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
#define OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
+#include
#include
-#include
#include
#include
@@ -75,7 +75,7 @@ class ObstacleCollisionChecker
private:
Param param_;
- vehicle_info_util::VehicleInfo vehicle_info_;
+ autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
//! This function assumes the input trajectory is sampled dense enough
static autoware_planning_msgs::msg::Trajectory resampleTrajectory(
@@ -86,7 +86,7 @@ class ObstacleCollisionChecker
static std::vector createVehicleFootprints(
const autoware_planning_msgs::msg::Trajectory & trajectory, const Param & param,
- const vehicle_info_util::VehicleInfo & vehicle_info);
+ const autoware::vehicle_info_utils::VehicleInfo & vehicle_info);
static std::vector createVehiclePassingAreas(
const std::vector & vehicle_footprints);
diff --git a/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml b/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml
index 078993d064064..f82384534e040 100755
--- a/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml
+++ b/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml
@@ -6,7 +6,7 @@
-
+
diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml
index ef7560755a122..795302abe75f4 100644
--- a/control/obstacle_collision_checker/package.xml
+++ b/control/obstacle_collision_checker/package.xml
@@ -19,6 +19,7 @@
autoware_cmake
autoware_planning_msgs
+ autoware_vehicle_info_utils
boost
diagnostic_updater
eigen
@@ -33,7 +34,6 @@
tf2_geometry_msgs
tf2_ros
tier4_autoware_utils
- vehicle_info_util
ament_cmake_ros
ament_lint_auto
diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
index 6887be4cedd77..a844fe6a50cbf 100644
--- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
+++ b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
@@ -83,7 +83,7 @@ double calcBrakingDistance(
namespace obstacle_collision_checker
{
ObstacleCollisionChecker::ObstacleCollisionChecker(rclcpp::Node & node)
-: vehicle_info_(vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo())
+: vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo())
{
}
@@ -188,7 +188,7 @@ autoware_planning_msgs::msg::Trajectory ObstacleCollisionChecker::cutTrajectory(
std::vector ObstacleCollisionChecker::createVehicleFootprints(
const autoware_planning_msgs::msg::Trajectory & trajectory, const Param & param,
- const vehicle_info_util::VehicleInfo & vehicle_info)
+ const autoware::vehicle_info_utils::VehicleInfo & vehicle_info)
{
// Create vehicle footprint in base_link coordinate
const auto local_vehicle_footprint = vehicle_info.createFootprint(param.footprint_margin);
diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
index cfde4ee849728..402123c81d361 100644
--- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
+++ b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
@@ -14,10 +14,10 @@
#include "obstacle_collision_checker/obstacle_collision_checker_node.hpp"
+#include
#include
#include
#include
-#include
#include
#include
diff --git a/control/operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml b/control/operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml
index 569d743ba2c4f..c6f03db0fcacc 100644
--- a/control/operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml
+++ b/control/operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml
@@ -1,6 +1,6 @@
-
+
diff --git a/control/operation_mode_transition_manager/package.xml b/control/operation_mode_transition_manager/package.xml
index 99439aa7e3ab7..40232469fdb6a 100644
--- a/control/operation_mode_transition_manager/package.xml
+++ b/control/operation_mode_transition_manager/package.xml
@@ -4,6 +4,7 @@
The vehicle_cmd_gate package
Takamasa Horibe
Tomoya Kimura
+ Takayuki Murooka
Apache License 2.0
Takamasa Horibe
@@ -12,6 +13,7 @@
rosidl_default_generators
autoware_control_msgs
+ autoware_vehicle_info_utils
autoware_vehicle_msgs
component_interface_specs
component_interface_utils
@@ -24,7 +26,6 @@
tier4_control_msgs
tier4_system_msgs
tier4_vehicle_msgs
- vehicle_info_util
ament_cmake_gtest
ament_lint_auto
diff --git a/control/operation_mode_transition_manager/src/state.cpp b/control/operation_mode_transition_manager/src/state.cpp
index 635ead2430677..82270875b2e17 100644
--- a/control/operation_mode_transition_manager/src/state.cpp
+++ b/control/operation_mode_transition_manager/src/state.cpp
@@ -33,7 +33,7 @@ using tier4_autoware_utils::calcYawDeviation;
AutonomousMode::AutonomousMode(rclcpp::Node * node)
: logger_(node->get_logger()), clock_(node->get_clock())
{
- vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*node).getVehicleInfo();
+ vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo();
sub_control_cmd_ = node->create_subscription(
"control_cmd", 1, [this](const Control::SharedPtr msg) { control_cmd_ = *msg; });
diff --git a/control/operation_mode_transition_manager/src/state.hpp b/control/operation_mode_transition_manager/src/state.hpp
index e5abd4285ad5f..54434690f2147 100644
--- a/control/operation_mode_transition_manager/src/state.hpp
+++ b/control/operation_mode_transition_manager/src/state.hpp
@@ -18,8 +18,8 @@
#include "data.hpp"
#include "operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
+#include
#include
-#include
#include
#include
@@ -83,7 +83,7 @@ class AutonomousMode : public ModeChangeBase
Control trajectory_follower_control_cmd_;
Odometry kinematics_;
Trajectory trajectory_;
- vehicle_info_util::VehicleInfo vehicle_info_;
+ autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
DebugInfo debug_info_;
std::shared_ptr stable_start_time_; // Reset every transition start.
diff --git a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
index 8410e7c78f723..2a7a552c1973d 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
@@ -15,6 +15,7 @@
#ifndef PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
#define PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
+#include
#include
#include
#include
@@ -23,7 +24,6 @@
#include
#include
#include
-#include
#include
#include