From 1f41a960e119de7f83b1839c39f051e942ee89fb Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Sat, 8 Jun 2024 14:53:31 +0900 Subject: [PATCH] refactor(freespace_planner)!: add autoawre prefix Signed-off-by: kosuke55 --- .../launch/scenario_planning/parking.launch.xml | 2 +- launch/tier4_planning_launch/package.xml | 2 +- .../README.md | 2 +- .../CMakeLists.txt | 10 +++++----- .../README.md | 2 +- .../config/freespace_planner.param.yaml | 0 .../freespace_planner_node.hpp | 10 +++++----- .../launch/freespace_planner.launch.xml | 2 +- .../package.xml | 4 ++-- .../freespace_planner_node.cpp | 8 ++++---- .../test/test_freespace_planner_node_interface.cpp | 6 +++--- 11 files changed, 24 insertions(+), 24 deletions(-) rename planning/{freespace_planner => autoware_freespace_planner}/CMakeLists.txt (64%) rename planning/{freespace_planner => autoware_freespace_planner}/README.md (99%) rename planning/{freespace_planner => autoware_freespace_planner}/config/freespace_planner.param.yaml (100%) rename planning/{freespace_planner/include/freespace_planner => autoware_freespace_planner/include/autoware_freespace_planner}/freespace_planner_node.hpp (95%) rename planning/{freespace_planner => autoware_freespace_planner}/launch/freespace_planner.launch.xml (91%) rename planning/{freespace_planner => autoware_freespace_planner}/package.xml (93%) rename planning/{freespace_planner/src/freespace_planner => autoware_freespace_planner/src/autoware_freespace_planner}/freespace_planner_node.cpp (98%) rename planning/{freespace_planner => autoware_freespace_planner}/test/test_freespace_planner_node_interface.cpp (94%) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml index db5a9a0093e7c..e0fdcb1e30408 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml @@ -18,7 +18,7 @@ - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index cc2d2903005cb..1c881091b0e7d 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -61,6 +61,7 @@ autoware_costmap_generator autoware_external_cmd_selector autoware_external_velocity_limit_selector + autoware_freespace_planner autoware_path_optimizer autoware_planning_topic_converter autoware_planning_validator @@ -69,7 +70,6 @@ autoware_surround_obstacle_checker autoware_velocity_smoother behavior_path_planner - freespace_planner glog_component mission_planner obstacle_cruise_planner diff --git a/planning/autoware_behavior_path_start_planner_module/README.md b/planning/autoware_behavior_path_start_planner_module/README.md index bcb3b1bec1fd9..b2c92f31ded31 100644 --- a/planning/autoware_behavior_path_start_planner_module/README.md +++ b/planning/autoware_behavior_path_start_planner_module/README.md @@ -545,4 +545,4 @@ To run this feature, you need to set `parking_lot` to the map, `activate_by_scen | end_pose_search_end_distance | [m] | double | distance from ego to the end point of the search for the end point in the freespace_pull_out driving lane | 30.0 | | end_pose_search_interval | [m] | bool | interval to search for the end point in the freespace_pull_out driving lane | 2.0 | -See [freespace_planner](../freespace_planner/README.md) for other parameters. +See [freespace_planner](../autoware_freespace_planner/README.md) for other parameters. diff --git a/planning/freespace_planner/CMakeLists.txt b/planning/autoware_freespace_planner/CMakeLists.txt similarity index 64% rename from planning/freespace_planner/CMakeLists.txt rename to planning/autoware_freespace_planner/CMakeLists.txt index a33c9859afe75..7901be70fbc63 100644 --- a/planning/freespace_planner/CMakeLists.txt +++ b/planning/autoware_freespace_planner/CMakeLists.txt @@ -1,24 +1,24 @@ cmake_minimum_required(VERSION 3.14) -project(freespace_planner) +project(autoware_freespace_planner) find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(freespace_planner_node SHARED - src/freespace_planner/freespace_planner_node.cpp + src/autoware_freespace_planner/freespace_planner_node.cpp ) rclcpp_components_register_node(freespace_planner_node - PLUGIN "freespace_planner::FreespacePlannerNode" + PLUGIN "autoware::freespace_planner::FreespacePlannerNode" EXECUTABLE freespace_planner ) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/test_${PROJECT_NAME}_node_interface.cpp + test/test_freespace_planner_node_interface.cpp ) target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME}_node + freespace_planner_node ) endif() diff --git a/planning/freespace_planner/README.md b/planning/autoware_freespace_planner/README.md similarity index 99% rename from planning/freespace_planner/README.md rename to planning/autoware_freespace_planner/README.md index 6ed0ab605ea05..6bf13a81c0413 100644 --- a/planning/freespace_planner/README.md +++ b/planning/autoware_freespace_planner/README.md @@ -1,4 +1,4 @@ -# The `freespace_planner` +# The `autoware_freespace_planner` ## freespace_planner_node diff --git a/planning/freespace_planner/config/freespace_planner.param.yaml b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml similarity index 100% rename from planning/freespace_planner/config/freespace_planner.param.yaml rename to planning/autoware_freespace_planner/config/freespace_planner.param.yaml diff --git a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp similarity index 95% rename from planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp rename to planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp index 22205ce427632..2084d8a3aad24 100644 --- a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp @@ -28,8 +28,8 @@ * limitations under the License. */ -#ifndef FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ -#define FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ +#ifndef AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ +#define AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ #include "tier4_autoware_utils/ros/logger_level_configure.hpp" @@ -63,7 +63,7 @@ #include #include -namespace freespace_planner +namespace autoware::freespace_planner { using autoware::freespace_planning_algorithms::AbstractPlanningAlgorithm; using autoware::freespace_planning_algorithms::AstarParam; @@ -165,6 +165,6 @@ class FreespacePlannerNode : public rclcpp::Node std::unique_ptr logger_configure_; }; -} // namespace freespace_planner +} // namespace autoware::freespace_planner -#endif // FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ +#endif // AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_ diff --git a/planning/freespace_planner/launch/freespace_planner.launch.xml b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml similarity index 91% rename from planning/freespace_planner/launch/freespace_planner.launch.xml rename to planning/autoware_freespace_planner/launch/freespace_planner.launch.xml index 3c8cce7a93941..e92a04307fed2 100644 --- a/planning/freespace_planner/launch/freespace_planner.launch.xml +++ b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml @@ -11,7 +11,7 @@ - + diff --git a/planning/freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml similarity index 93% rename from planning/freespace_planner/package.xml rename to planning/autoware_freespace_planner/package.xml index 06004ce9f308f..8a2ecad429f1b 100644 --- a/planning/freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -1,9 +1,9 @@ - freespace_planner + autoware_freespace_planner 0.1.0 - The freespace_planner package + The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe Takayuki Murooka diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp similarity index 98% rename from planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp rename to planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index f17b9227c89bc..797c140aa9dd9 100644 --- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -28,7 +28,7 @@ * limitations under the License. */ -#include "freespace_planner/freespace_planner_node.hpp" +#include "autoware_freespace_planner/freespace_planner_node.hpp" #include "autoware_freespace_planning_algorithms/abstract_algorithm.hpp" @@ -217,7 +217,7 @@ bool isStopped( } // namespace -namespace freespace_planner +namespace autoware::freespace_planner { FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_options) : Node("freespace_planner", node_options) @@ -583,7 +583,7 @@ void FreespacePlannerNode::initializePlanningAlgorithm() } RCLCPP_INFO_STREAM(get_logger(), "initialize planning algorithm: " << algo_name); } -} // namespace freespace_planner +} // namespace autoware::freespace_planner #include -RCLCPP_COMPONENTS_REGISTER_NODE(freespace_planner::FreespacePlannerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::freespace_planner::FreespacePlannerNode) diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp similarity index 94% rename from planning/freespace_planner/test/test_freespace_planner_node_interface.cpp rename to planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp index 881ce269a7895..621bed12fdabc 100644 --- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "freespace_planner/freespace_planner_node.hpp" +#include "autoware_freespace_planner/freespace_planner_node.hpp" #include #include @@ -22,7 +22,7 @@ #include -using freespace_planner::FreespacePlannerNode; +using autoware::freespace_planner::FreespacePlannerNode; using planning_test_utils::PlanningInterfaceTestManager; std::shared_ptr generateTestManager() @@ -41,7 +41,7 @@ std::shared_ptr generateNode() const auto planning_test_utils_dir = ament_index_cpp::get_package_share_directory("planning_test_utils"); const auto freespace_planner_dir = - ament_index_cpp::get_package_share_directory("freespace_planner"); + ament_index_cpp::get_package_share_directory("autoware_freespace_planner"); node_options.arguments( {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",