From 18d92abb58fdaa039e84bf38306fc523a71eaa77 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Tue, 11 Jun 2024 09:52:28 +0900 Subject: [PATCH] refactor(route_handler): route handler add autoware prefix (#7341) * rename route handler package Signed-off-by: mohammad alqudah * update packages dependencies Signed-off-by: mohammad alqudah * update include guards Signed-off-by: mohammad alqudah * update includes Signed-off-by: mohammad alqudah * put in autoware namespace Signed-off-by: mohammad alqudah * fix formats Signed-off-by: mohammad alqudah * keep header and source file name as before Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .github/CODEOWNERS | 2 +- planning/.pages | 2 +- .../src/interface.cpp | 2 +- .../src/manager.hpp | 3 +-- .../src/manager.hpp | 2 +- .../manager.hpp | 10 ++++------ .../scene.hpp | 2 +- .../utils/base_class.hpp | 2 +- .../utils/utils.hpp | 4 ++-- .../src/utils/utils.cpp | 2 +- .../data_manager.hpp | 4 ++-- .../interface/scene_module_interface.hpp | 2 +- .../turn_signal_decider.hpp | 4 ++-- .../drivable_area_expansion.hpp | 2 +- .../utils/utils.hpp | 6 +++--- .../autoware_behavior_path_planner_common/package.xml | 2 +- .../src/utils/utils.cpp | 2 +- .../test/test_drivable_area_expansion.cpp | 5 +++-- .../util.hpp | 4 ++-- .../data_structs.hpp | 2 +- .../package.xml | 2 +- .../test/test_utils.cpp | 9 +++++---- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../autoware_behavior_velocity_planner/package.xml | 2 +- .../planner_data.hpp | 4 ++-- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../freespace_planner_node.hpp | 4 ++-- planning/autoware_freespace_planner/package.xml | 2 +- planning/autoware_mission_planner/package.xml | 2 +- .../src/lanelet2_plugins/default_planner.hpp | 4 ++-- .../src/lanelet2_plugins/utility_functions.cpp | 3 ++- .../src/lanelet2_plugins/utility_functions.hpp | 5 +++-- .../src/mission_planner/mission_planner.hpp | 2 +- .../autoware_planning_test_manager_utils.hpp | 4 ++-- planning/autoware_planning_test_manager/package.xml | 2 +- .../package.xml | 2 +- .../src/remaining_distance_time_calculator_node.hpp | 2 +- .../CMakeLists.txt | 10 +++++----- .../README.md | 0 .../images/lane_change_test_route.svg | 0 .../images/route_handler_test.svg | 0 .../include/autoware_route_handler}/route_handler.hpp | 10 +++++----- .../package.xml | 2 +- .../src/route_handler.cpp | 6 +++--- .../test/test_route_handler.cpp | 4 ++-- .../test/test_route_handler.hpp | 6 +++--- .../test_route/lane_change_test_route.yaml | 0 .../include/autoware_scenario_selector/node.hpp | 4 ++-- planning/autoware_scenario_selector/package.xml | 2 +- planning/autoware_scenario_selector/src/node.cpp | 2 +- .../autoware_static_centerline_generator/package.xml | 2 +- .../src/type_alias.hpp | 4 ++-- .../autoware_static_centerline_generator/src/utils.hpp | 2 +- .../behavior_path_sampling_planner_module/package.xml | 2 +- .../behavior_velocity_crosswalk_module/package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../behavior_velocity_speed_bump_module/package.xml | 2 +- .../package.xml | 2 +- .../src/decisions.hpp | 2 +- .../src/lanelets_selection.hpp | 2 +- .../src/types.hpp | 2 +- .../planner_data.hpp | 2 +- .../package.xml | 2 +- 74 files changed, 107 insertions(+), 106 deletions(-) rename planning/{route_handler => autoware_route_handler}/CMakeLists.txt (53%) rename planning/{route_handler => autoware_route_handler}/README.md (100%) rename planning/{route_handler => autoware_route_handler}/images/lane_change_test_route.svg (100%) rename planning/{route_handler => autoware_route_handler}/images/route_handler_test.svg (100%) rename planning/{route_handler/include/route_handler => autoware_route_handler/include/autoware_route_handler}/route_handler.hpp (98%) rename planning/{route_handler => autoware_route_handler}/package.xml (97%) rename planning/{route_handler => autoware_route_handler}/src/route_handler.cpp (99%) rename planning/{route_handler => autoware_route_handler}/test/test_route_handler.cpp (98%) rename planning/{route_handler => autoware_route_handler}/test/test_route_handler.hpp (94%) rename planning/{route_handler => autoware_route_handler}/test_route/lane_change_test_route.yaml (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 9fb7aa21d74b7..a2eeab9422b79 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -196,7 +196,7 @@ planning/obstacle_velocity_limiter/** maxime.clement@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/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/autoware_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/autoware_bezier_sampler/** maxime.clement@tier4.jp diff --git a/planning/.pages b/planning/.pages index 1e11d25f1f3ea..04c6b3d8d1922 100644 --- a/planning/.pages +++ b/planning/.pages @@ -75,7 +75,7 @@ nav: - 'Costmap Generator': planning/costmap_generator - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector - 'Objects of Interest Marker Interface': planning/autoware_objects_of_interest_marker_interface - - 'Route Handler': planning/route_handler + - 'Route Handler': planning/autoware_route_handler - 'RTC Interface': planning/autoware_rtc_interface - 'Additional Tools': - 'Remaining Distance Time Calculator': planning/autoware_remaining_distance_time_calculator diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index c5070540152de..c9cee4d1fc53e 100644 --- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -22,8 +22,8 @@ namespace autoware::behavior_path_planner { +using autoware::route_handler::Direction; using ::behavior_path_planner::State; -using ::route_handler::Direction; AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface( const std::string & name, rclcpp::Node & node, diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp index fc74eae5421b5..b0a9ffe121a63 100644 --- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp @@ -31,14 +31,13 @@ namespace autoware::behavior_path_planner using ::behavior_path_planner::LaneChangeModuleManager; using ::behavior_path_planner::LaneChangeModuleType; using ::behavior_path_planner::SceneModuleInterface; -using ::route_handler::Direction; class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager { public: AvoidanceByLaneChangeModuleManager() : LaneChangeModuleManager( - "avoidance_by_lane_change", route_handler::Direction::NONE, + "avoidance_by_lane_change", autoware::route_handler::Direction::NONE, LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE) { } diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp index 9a708a1573c78..767fcfbd193f6 100644 --- a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp @@ -16,7 +16,7 @@ #define MANAGER_HPP_ #include "autoware_behavior_path_lane_change_module/manager.hpp" -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/manager.hpp b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/manager.hpp index 42ea99e705f9a..e9bf826d48585 100644 --- a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/manager.hpp +++ b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/manager.hpp @@ -17,7 +17,7 @@ #include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp" #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp" -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include @@ -27,7 +27,7 @@ namespace behavior_path_planner { -using route_handler::Direction; +using autoware::route_handler::Direction; class LaneChangeModuleManager : public SceneModuleManagerInterface { @@ -58,8 +58,7 @@ class LaneChangeRightModuleManager : public LaneChangeModuleManager { public: LaneChangeRightModuleManager() - : LaneChangeModuleManager( - "lane_change_right", route_handler::Direction::RIGHT, LaneChangeModuleType::NORMAL) + : LaneChangeModuleManager("lane_change_right", Direction::RIGHT, LaneChangeModuleType::NORMAL) { } }; @@ -68,8 +67,7 @@ class LaneChangeLeftModuleManager : public LaneChangeModuleManager { public: LaneChangeLeftModuleManager() - : LaneChangeModuleManager( - "lane_change_left", route_handler::Direction::LEFT, LaneChangeModuleType::NORMAL) + : LaneChangeModuleManager("lane_change_left", Direction::LEFT, LaneChangeModuleType::NORMAL) { } }; diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/scene.hpp b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/scene.hpp index 3c104b53b8232..9511682908c42 100644 --- a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/scene.hpp +++ b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/scene.hpp @@ -23,6 +23,7 @@ namespace behavior_path_planner { +using autoware::route_handler::Direction; using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebugMap; using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; @@ -33,7 +34,6 @@ using data::lane_change::LanesPolygon; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; -using route_handler::Direction; using tier4_planning_msgs::msg::PathWithLaneId; using utils::path_safety_checker::ExtendedPredictedObjects; diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/base_class.hpp b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/base_class.hpp index e5710c197d1fd..8fccb95d7cc98 100644 --- a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/base_class.hpp @@ -36,11 +36,11 @@ namespace behavior_path_planner { +using autoware::route_handler::Direction; using data::lane_change::PathSafetyStatus; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; -using route_handler::Direction; using tier4_autoware_utils::StopWatch; using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/utils.hpp b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/utils.hpp index ee4a7833314d4..16d58b7f022bb 100644 --- a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/utils.hpp @@ -22,7 +22,7 @@ #include "autoware_behavior_path_planner_common/utils/utils.hpp" #include "rclcpp/logger.hpp" -#include +#include #include #include @@ -38,6 +38,7 @@ namespace behavior_path_planner::utils::lane_change { +using autoware::route_handler::Direction; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; @@ -51,7 +52,6 @@ using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; using path_safety_checker::CollisionCheckDebugMap; -using route_handler::Direction; using tier4_autoware_utils::Polygon2d; using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 13df94b8766ad..f9322401b0990 100644 --- a/planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -57,10 +57,10 @@ namespace behavior_path_planner::utils::lane_change { +using autoware::route_handler::RouteHandler; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; using geometry_msgs::msg::Pose; -using route_handler::RouteHandler; using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/data_manager.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/data_manager.hpp index 3b4d8e3ef2ef3..17c16e59f411d 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/data_manager.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/data_manager.hpp @@ -20,11 +20,11 @@ #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp" #include "motion_utils/trajectory/trajectory.hpp" +#include #include #include #include #include -#include #include #include @@ -50,6 +50,7 @@ namespace behavior_path_planner { +using autoware::route_handler::RouteHandler; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -61,7 +62,6 @@ using geometry_msgs::msg::AccelWithCovarianceStamped; using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; -using route_handler::RouteHandler; using tier4_planning_msgs::msg::LateralOffset; using tier4_planning_msgs::msg::PathWithLaneId; using PlanResult = PathWithLaneId::SharedPtr; diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp index 898c54b8e348c..3dff67b470147 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp @@ -23,13 +23,13 @@ #include #include #include +#include #include #include #include #include #include #include -#include #include #include #include diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/turn_signal_decider.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/turn_signal_decider.hpp index d658d29710704..e4a17febe045c 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/turn_signal_decider.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/turn_signal_decider.hpp @@ -19,8 +19,8 @@ #include #include +#include #include -#include #include #include @@ -42,12 +42,12 @@ namespace behavior_path_planner { +using autoware::route_handler::RouteHandler; using autoware_vehicle_msgs::msg::HazardLightsCommand; using autoware_vehicle_msgs::msg::TurnIndicatorsCommand; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; -using route_handler::RouteHandler; using tier4_planning_msgs::msg::PathWithLaneId; const std::map g_signal_map = { diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp index f6d45f5179c8c..7bfcb94ff2de6 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp @@ -19,7 +19,7 @@ #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp" #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/types.hpp" -#include +#include #include diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/utils.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/utils.hpp index 53bd7c508d246..40973008de824 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/utils.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/utils.hpp @@ -18,7 +18,7 @@ #include "autoware_behavior_path_planner_common/data_manager.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include +#include #include #include @@ -46,10 +46,10 @@ using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; +using autoware::route_handler::RouteHandler; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Vector3; -using route_handler::RouteHandler; using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::Polygon2d; using tier4_planning_msgs::msg::PathPointWithLaneId; @@ -327,7 +327,7 @@ lanelet::ConstLanelets calcLaneAroundPose( bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold); lanelet::ConstLanelets getLaneletsFromPath( - const PathWithLaneId & path, const std::shared_ptr & route_handler); + const PathWithLaneId & path, const std::shared_ptr & route_handler); std::string convertToSnakeCase(const std::string & input_str); diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/autoware_behavior_path_planner_common/package.xml index 8ffe0fd6ea0c2..6b20027610951 100644 --- a/planning/autoware_behavior_path_planner_common/package.xml +++ b/planning/autoware_behavior_path_planner_common/package.xml @@ -48,6 +48,7 @@ autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_rtc_interface autoware_vehicle_info_utils geometry_msgs @@ -57,7 +58,6 @@ motion_utils object_recognition_utils rclcpp - route_handler tf2 tier4_autoware_utils tier4_planning_msgs diff --git a/planning/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/autoware_behavior_path_planner_common/src/utils/utils.cpp index 4d5097ab3738f..057cc9a40e8b0 100644 --- a/planning/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -1607,7 +1607,7 @@ bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_thre } lanelet::ConstLanelets getLaneletsFromPath( - const PathWithLaneId & path, const std::shared_ptr & route_handler) + const PathWithLaneId & path, const std::shared_ptr & route_handler) { std::vector unique_lanelet_ids; for (const auto & p : path.points) { diff --git a/planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp b/planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp index 36a556647f91e..37326347d6374 100644 --- a/planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp +++ b/planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp @@ -179,7 +179,7 @@ TEST(DrivableAreaExpansionProjection, expand_drivable_area) autoware_map_msgs::msg::LaneletMapBin map; lanelet::LaneletMapPtr empty_lanelet_map_ptr = std::make_shared(); lanelet::utils::conversion::toBinMsg(empty_lanelet_map_ptr, &map); - route_handler::RouteHandler route_handler(map); + autoware::route_handler::RouteHandler route_handler(map); lanelet::ConstLanelets path_lanes = {}; drivable_area_expansion::PathWithLaneId path; { // Simple path with Y=0 and X = 0, 1, 2 @@ -228,7 +228,8 @@ TEST(DrivableAreaExpansionProjection, expand_drivable_area) planner_data.dynamic_object = std::make_shared(dynamic_objects); planner_data.self_odometry = std::make_shared(); - planner_data.route_handler = std::make_shared(route_handler); + planner_data.route_handler = + std::make_shared(route_handler); drivable_area_expansion::expand_drivable_area( path, std::make_shared(planner_data)); // unchanged path points diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/util.hpp b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/util.hpp index b9f0b964ed428..cf3fba6767006 100644 --- a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/util.hpp +++ b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/util.hpp @@ -21,7 +21,7 @@ #include "autoware_behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" #include "autoware_behavior_path_start_planner_module/pull_out_path.hpp" -#include +#include #include #include @@ -36,12 +36,12 @@ namespace behavior_path_planner::start_planner_utils { +using autoware::route_handler::RouteHandler; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; using behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; -using route_handler::RouteHandler; using tier4_planning_msgs::msg::PathWithLaneId; PathWithLaneId getBackwardPath( diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 78a8b8b125850..3f5b4da4db13c 100644 --- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -35,8 +35,8 @@ namespace behavior_path_planner { +using autoware::route_handler::Direction; using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; -using route_handler::Direction; enum class ObjectInfo { NONE = 0, diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index f8c79d112acaa..5a93e620979be 100644 --- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -24,6 +24,7 @@ autoware_behavior_path_planner_common autoware_objects_of_interest_marker_interface autoware_perception_msgs + autoware_route_handler autoware_rtc_interface autoware_vehicle_info_utils behavior_path_planner @@ -33,7 +34,6 @@ motion_utils pluginlib rclcpp - route_handler sensor_msgs signal_processing tf2 diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index da681e72533b0..e39188e6425ca 100644 --- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -18,6 +18,7 @@ #include #include +using autoware::route_handler::Direction; using behavior_path_planner::ObjectData; using behavior_path_planner::utils::static_obstacle_avoidance::isOnRight; using behavior_path_planner::utils::static_obstacle_avoidance::isSameDirectionShift; @@ -26,7 +27,7 @@ using behavior_path_planner::utils::static_obstacle_avoidance::isShiftNecessary; TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) { ObjectData right_obj; - right_obj.direction = route_handler::Direction::RIGHT; + right_obj.direction = Direction::RIGHT; const double negative_shift_length = -1.0; const double positive_shift_length = 1.0; @@ -34,7 +35,7 @@ TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) ASSERT_FALSE(isSameDirectionShift(isOnRight(right_obj), positive_shift_length)); ObjectData left_obj; - left_obj.direction = route_handler::Direction::LEFT; + left_obj.direction = Direction::LEFT; ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length)); ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length)); } @@ -42,7 +43,7 @@ TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest) { ObjectData right_obj; - right_obj.direction = route_handler::Direction::RIGHT; + right_obj.direction = Direction::RIGHT; const double negative_shift_length = -1.0; const double positive_shift_length = 1.0; @@ -50,7 +51,7 @@ TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest) ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length)); ObjectData left_obj; - left_obj.direction = route_handler::Direction::LEFT; + left_obj.direction = Direction::LEFT; ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length)); ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length)); } diff --git a/planning/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/autoware_behavior_velocity_blind_spot_module/package.xml index 4cb554a4a1aab..8a740727445ca 100644 --- a/planning/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/autoware_behavior_velocity_blind_spot_module/package.xml @@ -19,12 +19,12 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler geometry_msgs lanelet2_extension motion_utils pluginlib rclcpp - route_handler tf2 tier4_autoware_utils tier4_planning_msgs diff --git a/planning/autoware_behavior_velocity_intersection_module/package.xml b/planning/autoware_behavior_velocity_intersection_module/package.xml index 5ce1ff206a1a9..4e79139ba2fe7 100644 --- a/planning/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/autoware_behavior_velocity_intersection_module/package.xml @@ -21,6 +21,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_rtc_interface autoware_vehicle_info_utils fmt @@ -33,7 +34,6 @@ nav_msgs pluginlib rclcpp - route_handler tf2_geometry_msgs tier4_autoware_utils tier4_planning_msgs diff --git a/planning/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/autoware_behavior_velocity_occlusion_spot_module/package.xml index d8177ddc908f3..e229a69032c27 100644 --- a/planning/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -19,6 +19,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geometry_msgs grid_map_ros @@ -31,7 +32,6 @@ nav_msgs pluginlib rclcpp - route_handler tf2 tf2_geometry_msgs tier4_autoware_utils diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml index 8ca1127484a34..d979da6e7a0ef 100644 --- a/planning/autoware_behavior_velocity_planner/package.xml +++ b/planning/autoware_behavior_velocity_planner/package.xml @@ -38,6 +38,7 @@ autoware_map_msgs autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_velocity_smoother diagnostic_msgs eigen @@ -49,7 +50,6 @@ pluginlib rclcpp rclcpp_components - route_handler sensor_msgs tf2 tf2_eigen diff --git a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp index df5d083f5dcb1..068a10b7e16f3 100644 --- a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp +++ b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/planner_data.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE_BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ #define AUTOWARE_BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include #include @@ -90,7 +90,7 @@ struct PlannerData // velocity smoother std::shared_ptr velocity_smoother_; // route handler - std::shared_ptr route_handler_; + std::shared_ptr route_handler_; // parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/planning/autoware_behavior_velocity_planner_common/package.xml b/planning/autoware_behavior_velocity_planner_common/package.xml index 2eadf2c26f59b..69b153ad5d9a9 100644 --- a/planning/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/autoware_behavior_velocity_planner_common/package.xml @@ -24,6 +24,7 @@ autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_rtc_interface autoware_vehicle_info_utils autoware_velocity_smoother @@ -37,7 +38,6 @@ pcl_conversions rclcpp rclcpp_components - route_handler sensor_msgs tf2 tf2_eigen diff --git a/planning/autoware_behavior_velocity_run_out_module/package.xml b/planning/autoware_behavior_velocity_run_out_module/package.xml index 284797cbed0a8..a2f8d50f01b1d 100644 --- a/planning/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/autoware_behavior_velocity_run_out_module/package.xml @@ -22,6 +22,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils behavior_velocity_crosswalk_module eigen @@ -33,7 +34,6 @@ pcl_conversions pluginlib rclcpp - route_handler sensor_msgs tf2 tf2_eigen diff --git a/planning/autoware_behavior_velocity_stop_line_module/package.xml b/planning/autoware_behavior_velocity_stop_line_module/package.xml index c3d3baa965834..f463f89318ba8 100644 --- a/planning/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/autoware_behavior_velocity_stop_line_module/package.xml @@ -20,13 +20,13 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension motion_utils pluginlib rclcpp - route_handler tf2_geometry_msgs visualization_msgs diff --git a/planning/autoware_behavior_velocity_template_module/package.xml b/planning/autoware_behavior_velocity_template_module/package.xml index eb6a6668fcee9..dc7e57d421d1f 100644 --- a/planning/autoware_behavior_velocity_template_module/package.xml +++ b/planning/autoware_behavior_velocity_template_module/package.xml @@ -15,6 +15,7 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension @@ -22,7 +23,6 @@ motion_utils pluginlib rclcpp - route_handler sensor_msgs tf2 tier4_autoware_utils diff --git a/planning/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/autoware_behavior_velocity_traffic_light_module/package.xml index 7b86199c497f1..4d011050a8675 100644 --- a/planning/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/autoware_behavior_velocity_traffic_light_module/package.xml @@ -22,13 +22,13 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension motion_utils pluginlib rclcpp - route_handler tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 415dcd983a8df..7bec0b7fa9c01 100644 --- a/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -19,6 +19,7 @@ autoware_adapi_v1_msgs autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geometry_msgs lanelet2_extension @@ -26,7 +27,6 @@ nlohmann-json-dev pluginlib rclcpp - route_handler tier4_autoware_utils tier4_planning_msgs tier4_v2x_msgs diff --git a/planning/autoware_behavior_velocity_walkway_module/package.xml b/planning/autoware_behavior_velocity_walkway_module/package.xml index 60ef7593ab8ff..08d36b1677c27 100644 --- a/planning/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/autoware_behavior_velocity_walkway_module/package.xml @@ -19,6 +19,7 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils behavior_velocity_crosswalk_module geometry_msgs @@ -27,7 +28,6 @@ motion_utils pluginlib rclcpp - route_handler tier4_autoware_utils visualization_msgs diff --git a/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp index 2084d8a3aad24..0606d1d2bb369 100644 --- a/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp @@ -52,7 +52,7 @@ #include #endif -#include +#include #include #include @@ -140,7 +140,7 @@ class FreespacePlannerNode : public rclcpp::Node OccupancyGrid::ConstSharedPtr occupancy_grid_; Scenario::ConstSharedPtr scenario_; Odometry::ConstSharedPtr odom_; - std::shared_ptr route_handler_; + std::shared_ptr route_handler_; std::deque odom_buffer_; diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index 8a2ecad429f1b..a5ed76d7d27b6 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -18,13 +18,13 @@ autoware_freespace_planning_algorithms autoware_planning_msgs autoware_planning_test_manager + autoware_route_handler autoware_vehicle_info_utils geometry_msgs motion_utils nav_msgs rclcpp rclcpp_components - route_handler tf2 tf2_geometry_msgs tf2_ros diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml index 84b84971329d1..0a0491e75dd95 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner/package.xml @@ -20,6 +20,7 @@ autoware_adapi_v1_msgs autoware_map_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geometry_msgs lanelet2_extension @@ -27,7 +28,6 @@ pluginlib rclcpp rclcpp_components - route_handler tf2_geometry_msgs tf2_ros tier4_autoware_utils diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp index 6ca47c98b435b..cf69475e89869 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp @@ -15,10 +15,10 @@ #ifndef LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_ #define LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_ +#include #include #include #include -#include #include #include @@ -58,7 +58,7 @@ class DefaultPlanner : public mission_planner::PlannerPlugin using RouteSections = std::vector; using Pose = geometry_msgs::msg::Pose; bool is_graph_ready_; - route_handler::RouteHandler route_handler_; + autoware::route_handler::RouteHandler route_handler_; DefaultPlannerParameters param_; diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp index e7797946aa619..1f3b2077cc5eb 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -42,7 +42,8 @@ void insert_marker_array( } lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, const route_handler::RouteHandler & route_handler) + const lanelet::ConstLanelets & lanelets, + const autoware::route_handler::RouteHandler & route_handler) { lanelet::Points3d lefts; lanelet::Points3d rights; diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp index ed8dbfed63bfe..c3bed03ac6512 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -15,9 +15,9 @@ #ifndef LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_ #define LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_ +#include #include #include -#include #include #include @@ -54,7 +54,8 @@ void insert_marker_array( * @param route_handler route handler to query the lanelet map */ lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, const route_handler::RouteHandler & route_handler); + const lanelet::ConstLanelets & lanelets, + const autoware::route_handler::RouteHandler & route_handler); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 3bdac1e75f9c4..9f3dc7d98c41c 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -17,10 +17,10 @@ #include "arrival_checker.hpp" +#include #include #include #include -#include #include #include diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp index 63474c5e458cd..2f7116c162334 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -14,8 +14,8 @@ #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ +#include #include -#include #include #include @@ -26,10 +26,10 @@ namespace autoware_planning_test_manager::utils { +using autoware::route_handler::RouteHandler; using autoware_planning_msgs::msg::LaneletRoute; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; -using route_handler::RouteHandler; using RouteSections = std::vector; Pose createPoseFromLaneID(const lanelet::Id & lane_id) diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 3170ff5f854b9..ed47594295776 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -17,6 +17,7 @@ autoware_map_msgs autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_msgs component_interface_specs component_interface_utils @@ -26,7 +27,6 @@ nav_msgs planning_test_utils rclcpp - route_handler tf2_msgs tf2_ros tier4_api_msgs diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index 4f0324b23f299..3a0aeb8d8c981 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -13,6 +13,7 @@ autoware_internal_msgs autoware_planning_msgs + autoware_route_handler geometry_msgs lanelet2_extension motion_utils @@ -20,7 +21,6 @@ planning_test_utils rclcpp rclcpp_components - route_handler std_msgs tier4_autoware_utils tier4_planning_msgs diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp index c87c397bd07aa..19c5581d26b9d 100644 --- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp @@ -15,8 +15,8 @@ #ifndef REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_ #define REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_ +#include #include -#include #include #include diff --git a/planning/route_handler/CMakeLists.txt b/planning/autoware_route_handler/CMakeLists.txt similarity index 53% rename from planning/route_handler/CMakeLists.txt rename to planning/autoware_route_handler/CMakeLists.txt index 414489e899fff..66280affb0c10 100644 --- a/planning/route_handler/CMakeLists.txt +++ b/planning/autoware_route_handler/CMakeLists.txt @@ -1,19 +1,19 @@ cmake_minimum_required(VERSION 3.14) -project(route_handler) +project(autoware_route_handler) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(route_handler SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/route_handler.cpp ) if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_route_handler + ament_add_ros_isolated_gtest(test_autoware_route_handler test/test_route_handler.cpp) - target_link_libraries(test_route_handler - route_handler + target_link_libraries(test_autoware_route_handler + ${PROJECT_NAME} ) endif() diff --git a/planning/route_handler/README.md b/planning/autoware_route_handler/README.md similarity index 100% rename from planning/route_handler/README.md rename to planning/autoware_route_handler/README.md diff --git a/planning/route_handler/images/lane_change_test_route.svg b/planning/autoware_route_handler/images/lane_change_test_route.svg similarity index 100% rename from planning/route_handler/images/lane_change_test_route.svg rename to planning/autoware_route_handler/images/lane_change_test_route.svg diff --git a/planning/route_handler/images/route_handler_test.svg b/planning/autoware_route_handler/images/route_handler_test.svg similarity index 100% rename from planning/route_handler/images/route_handler_test.svg rename to planning/autoware_route_handler/images/route_handler_test.svg diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/autoware_route_handler/include/autoware_route_handler/route_handler.hpp similarity index 98% rename from planning/route_handler/include/route_handler/route_handler.hpp rename to planning/autoware_route_handler/include/autoware_route_handler/route_handler.hpp index d692337b10bd6..5d7c78e0c1976 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/autoware_route_handler/include/autoware_route_handler/route_handler.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef ROUTE_HANDLER__ROUTE_HANDLER_HPP_ -#define ROUTE_HANDLER__ROUTE_HANDLER_HPP_ +#ifndef AUTOWARE_ROUTE_HANDLER__ROUTE_HANDLER_HPP_ +#define AUTOWARE_ROUTE_HANDLER__ROUTE_HANDLER_HPP_ #include @@ -35,7 +35,7 @@ #include #include -namespace route_handler +namespace autoware::route_handler { using autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; @@ -418,5 +418,5 @@ class RoutingCostDrivable : public lanelet::routing::RoutingCostDistance return lanelet::routing::RoutingCostDistance::getCostLaneChange(trafficRules, from, to); } }; // class RoutingCostDrivable -} // namespace route_handler -#endif // ROUTE_HANDLER__ROUTE_HANDLER_HPP_ +} // namespace autoware::route_handler +#endif // AUTOWARE_ROUTE_HANDLER__ROUTE_HANDLER_HPP_ diff --git a/planning/route_handler/package.xml b/planning/autoware_route_handler/package.xml similarity index 97% rename from planning/route_handler/package.xml rename to planning/autoware_route_handler/package.xml index 8be6707e933d7..48b1b055b2157 100644 --- a/planning/route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -1,7 +1,7 @@ - route_handler + autoware_route_handler 0.1.0 The route_handling package Fumiya Watanabe diff --git a/planning/route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp similarity index 99% rename from planning/route_handler/src/route_handler.cpp rename to planning/autoware_route_handler/src/route_handler.cpp index 1fd0dd7747e49..213cca3bd5d80 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include #include @@ -42,7 +42,7 @@ #include #include -namespace route_handler +namespace autoware::route_handler { namespace { @@ -2174,4 +2174,4 @@ std::optional RouteHandler::findDrivableLanePath( if (route) return route->shortestPath(); return {}; } -} // namespace route_handler +} // namespace autoware::route_handler diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/autoware_route_handler/test/test_route_handler.cpp similarity index 98% rename from planning/route_handler/test/test_route_handler.cpp rename to planning/autoware_route_handler/test/test_route_handler.cpp index 212fc0ce84d89..5ee8aa8034abd 100644 --- a/planning/route_handler/test/test_route_handler.cpp +++ b/planning/autoware_route_handler/test/test_route_handler.cpp @@ -18,7 +18,7 @@ #include -namespace route_handler::test +namespace autoware::route_handler::test { TEST_F(TestRouteHandler, isRouteHandlerReadyTest) { @@ -107,4 +107,4 @@ TEST_F(TestRouteHandler, getGoalLaneId) // ASSERT_TRUE(closest_lane_obtained5); // ASSERT_EQ(closest_lane.id(), 4424); // } -} // namespace route_handler::test +} // namespace autoware::route_handler::test diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp similarity index 94% rename from planning/route_handler/test/test_route_handler.hpp rename to planning/autoware_route_handler/test/test_route_handler.hpp index 9f9fba717a4aa..bc557a82b196d 100644 --- a/planning/route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -20,13 +20,13 @@ #include "planning_test_utils/mock_data_parser.hpp" #include "planning_test_utils/planning_test_utils.hpp" +#include #include #include #include #include #include #include -#include #include @@ -34,7 +34,7 @@ #include #include -namespace route_handler::test +namespace autoware::route_handler::test { using autoware_map_msgs::msg::LaneletMapBin; @@ -68,6 +68,6 @@ class TestRouteHandler : public ::testing::Test std::shared_ptr route_handler_; }; -} // namespace route_handler::test +} // namespace autoware::route_handler::test #endif // TEST_ROUTE_HANDLER_HPP_ diff --git a/planning/route_handler/test_route/lane_change_test_route.yaml b/planning/autoware_route_handler/test_route/lane_change_test_route.yaml similarity index 100% rename from planning/route_handler/test_route/lane_change_test_route.yaml rename to planning/autoware_route_handler/test_route/lane_change_test_route.yaml diff --git a/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp index 5551db45bba37..5abf9d8c8c732 100644 --- a/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp +++ b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp @@ -34,7 +34,7 @@ #else #include #endif -#include +#include #include #include @@ -91,7 +91,7 @@ class ScenarioSelectorNode : public rclcpp::Node std::shared_ptr lanelet_map_ptr_; std::shared_ptr routing_graph_ptr_; std::shared_ptr traffic_rules_ptr_; - std::shared_ptr route_handler_; + std::shared_ptr route_handler_; std::unique_ptr published_time_publisher_; // Parameters diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index ee58eac35c8ae..03a0e92b5a33f 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -19,11 +19,11 @@ autoware_map_msgs autoware_planning_msgs autoware_planning_test_manager + autoware_route_handler lanelet2_extension nav_msgs rclcpp rclcpp_components - route_handler tf2 tf2_geometry_msgs tf2_ros diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp index 1f1a22cf08deb..c4d9f809556b0 100644 --- a/planning/autoware_scenario_selector/src/node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -191,7 +191,7 @@ void ScenarioSelectorNode::onMap(const autoware_map_msgs::msg::LaneletMapBin::Co lanelet_map_ptr_ = std::make_shared(); lanelet::utils::conversion::fromBinMsg( *msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_); - route_handler_ = std::make_shared(*msg); + route_handler_ = std::make_shared(*msg); } void ScenarioSelectorNode::onRoute( diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 29a145d21db43..efa500b66f914 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -22,6 +22,7 @@ autoware_path_smoother autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geography_utils geometry_msgs @@ -34,7 +35,6 @@ osqp_interface rclcpp rclcpp_components - route_handler tier4_autoware_utils tier4_map_msgs diff --git a/planning/autoware_static_centerline_generator/src/type_alias.hpp b/planning/autoware_static_centerline_generator/src/type_alias.hpp index d40e519ef2704..1eb5aa516f3b9 100644 --- a/planning/autoware_static_centerline_generator/src/type_alias.hpp +++ b/planning/autoware_static_centerline_generator/src/type_alias.hpp @@ -14,7 +14,7 @@ #ifndef TYPE_ALIAS_HPP_ #define TYPE_ALIAS_HPP_ -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "autoware_map_msgs/msg/lanelet_map_bin.hpp" @@ -28,6 +28,7 @@ namespace autoware::static_centerline_generator { +using autoware::route_handler::RouteHandler; using autoware_map_msgs::msg::LaneletMapBin; using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::LaneletRoute; @@ -35,7 +36,6 @@ using autoware_planning_msgs::msg::Path; using autoware_planning_msgs::msg::PathPoint; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -using route_handler::RouteHandler; using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::Point2d; diff --git a/planning/autoware_static_centerline_generator/src/utils.hpp b/planning/autoware_static_centerline_generator/src/utils.hpp index 1d7eb1f18cc44..8b7347f84701a 100644 --- a/planning/autoware_static_centerline_generator/src/utils.hpp +++ b/planning/autoware_static_centerline_generator/src/utils.hpp @@ -15,7 +15,7 @@ #ifndef UTILS_HPP_ #define UTILS_HPP_ -#include "route_handler/route_handler.hpp" +#include "autoware_route_handler/route_handler.hpp" #include "type_alias.hpp" #include diff --git a/planning/behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_sampling_planner_module/package.xml index c48f3240ab84d..60924027fb4c0 100644 --- a/planning/behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_sampling_planner_module/package.xml @@ -20,6 +20,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_planning_test_manager + autoware_route_handler autoware_vehicle_info_utils autoware_vehicle_msgs geometry_msgs @@ -29,7 +30,6 @@ pluginlib rclcpp rclcpp_components - route_handler sensor_msgs signal_processing tf2 diff --git a/planning/behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_crosswalk_module/package.xml index 87ccdebd02fcf..d1c23618003f8 100644 --- a/planning/behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_crosswalk_module/package.xml @@ -24,6 +24,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils eigen geometry_msgs @@ -38,7 +39,6 @@ pcl_conversions pluginlib rclcpp - route_handler sensor_msgs tier4_api_msgs tier4_autoware_utils diff --git a/planning/behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_detection_area_module/package.xml index b2d370380829a..363251b9b5ef8 100644 --- a/planning/behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_detection_area_module/package.xml @@ -19,6 +19,7 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension @@ -26,7 +27,6 @@ motion_utils pluginlib rclcpp - route_handler tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/package.xml b/planning/behavior_velocity_dynamic_obstacle_stop_module/package.xml index f25ded5e1823c..bdf842b4fa55f 100644 --- a/planning/behavior_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/package.xml @@ -15,13 +15,13 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geometry_msgs libboost-dev motion_utils pluginlib rclcpp - route_handler tf2 tier4_autoware_utils tier4_planning_msgs diff --git a/planning/behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_no_drivable_lane_module/package.xml index 4c3d6dbf78153..f728167f09f23 100644 --- a/planning/behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_no_drivable_lane_module/package.xml @@ -21,6 +21,7 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension @@ -28,7 +29,6 @@ motion_utils pluginlib rclcpp - route_handler sensor_msgs tf2 tier4_autoware_utils diff --git a/planning/behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_no_stopping_area_module/package.xml index 97b3b01ee31e1..0728c02348bc0 100644 --- a/planning/behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_no_stopping_area_module/package.xml @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils eigen geometry_msgs @@ -29,7 +30,6 @@ motion_utils pluginlib rclcpp - route_handler tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_speed_bump_module/package.xml index 62e215951757d..491e8704bef41 100644 --- a/planning/behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_speed_bump_module/package.xml @@ -17,6 +17,7 @@ autoware_behavior_velocity_planner_common autoware_planning_msgs + autoware_route_handler eigen geometry_msgs lanelet2_extension @@ -24,7 +25,6 @@ motion_utils pluginlib rclcpp - route_handler sensor_msgs tf2 tier4_autoware_utils diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index a6176555ae7af..8dab409b48ad5 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -17,6 +17,7 @@ autoware_motion_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_vehicle_info_utils geometry_msgs lanelet2_extension @@ -24,7 +25,6 @@ motion_utils pluginlib rclcpp - route_handler tf2 tier4_autoware_utils tier4_planning_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp index e691f2893dab9..09aa91b6b5565 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp @@ -17,8 +17,8 @@ #include "types.hpp" +#include #include -#include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp index c7351f0a98e89..e9ccadcdde800 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp @@ -17,7 +17,7 @@ #include "types.hpp" -#include +#include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp index 4fce13582aa1e..113c5f2580c2f 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp @@ -15,7 +15,7 @@ #ifndef TYPES_HPP_ #define TYPES_HPP_ -#include +#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp index a25ab5d55a910..494deae1d060c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ #define AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ +#include #include #include -#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index a115d28ee6d86..7c1d370ae0ced 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -18,6 +18,7 @@ autoware_behavior_velocity_planner_common autoware_perception_msgs autoware_planning_msgs + autoware_route_handler autoware_velocity_smoother eigen geometry_msgs @@ -25,7 +26,6 @@ libboost-dev motion_utils rclcpp - route_handler tier4_autoware_utils tier4_planning_msgs visualization_msgs