From 26377685f58f1e8a88dff8b4c0039de1cfd8920e Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 10 Jun 2024 10:09:24 +0900 Subject: [PATCH] chore(vehicle_cmd_gate): add prefix autoware_ to vehicle_cmd_gate (#7327) * add prefix autoware_ to vehicle_cmd_gate package Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * fix include guard Signed-off-by: Go Sakayori * fix pre-commit Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 4 ++-- .../README.md | 0 .../config/vehicle_cmd_gate.param.yaml | 0 .../image/filter.png | Bin .../launch/vehicle_cmd_gate.launch.xml | 4 ++-- .../msg/IsFilterActivated.msg | 0 .../package.xml | 2 +- .../schema/vehicle_cmd_gate.json | 0 .../script/delays_checker.py | 0 .../src/adapi_pause_interface.cpp | 4 ++-- .../src/adapi_pause_interface.hpp | 4 ++-- .../src/marker_helper.hpp | 4 ++-- .../src/moderate_stop_interface.cpp | 4 ++-- .../src/moderate_stop_interface.hpp | 4 ++-- .../src/vehicle_cmd_filter.cpp | 4 ++-- .../src/vehicle_cmd_filter.hpp | 8 ++++---- .../src/vehicle_cmd_gate.cpp | 6 +++--- .../src/vehicle_cmd_gate.hpp | 8 ++++---- .../src/test_filter_in_vehicle_cmd_gate_node.cpp | 4 ++-- .../test/src/test_main.cpp | 0 .../test/src/test_vehicle_cmd_filter.cpp | 12 ++++++------ .../tier4_control_launch/launch/control.launch.py | 4 ++-- launch/tier4_control_launch/package.xml | 2 +- 24 files changed, 40 insertions(+), 40 deletions(-) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/CMakeLists.txt (93%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/README.md (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/config/vehicle_cmd_gate.param.yaml (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/image/filter.png (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/launch/vehicle_cmd_gate.launch.xml (92%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/msg/IsFilterActivated.msg (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/package.xml (97%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/schema/vehicle_cmd_gate.json (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/script/delays_checker.py (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/adapi_pause_interface.cpp (95%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/adapi_pause_interface.hpp (95%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/marker_helper.hpp (97%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/moderate_stop_interface.cpp (95%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/moderate_stop_interface.hpp (95%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_filter.cpp (99%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_filter.hpp (94%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_gate.cpp (99%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_gate.hpp (98%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_filter_in_vehicle_cmd_gate_node.cpp (99%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_main.cpp (100%) rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_vehicle_cmd_filter.cpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 95ddb97d2bbb0..084349cda0af3 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -60,7 +60,7 @@ control/shift_decider/** takamasa.horibe@tier4.jp 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 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 92% 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..c9e83bf9878b8 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 97% rename from control/vehicle_cmd_gate/package.xml rename to control/autoware_vehicle_cmd_gate/package.xml index e01d566c37df9..da0e885cc564a 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 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 99% 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..e8d35beb94b1f 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 @@ -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 98% 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..22613de5d1f07 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -20,11 +20,11 @@ #include "tier4_autoware_utils/ros/logger_level_configure.hpp" #include "vehicle_cmd_filter.hpp" +#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 99% 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..6f148fe6c8140 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; @@ -369,7 +369,7 @@ 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"); 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/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index a4f896048739f..dea0bc1d7c442 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -194,8 +194,8 @@ def launch_setup(context, *args, **kwargs): # vehicle cmd gate vehicle_cmd_gate_component = ComposableNode( - package="vehicle_cmd_gate", - plugin="vehicle_cmd_gate::VehicleCmdGate", + package="autoware_vehicle_cmd_gate", + plugin="autoware::vehicle_cmd_gate::VehicleCmdGate", name="vehicle_cmd_gate", remappings=[ ("input/steering", "/vehicle/status/steering_status"), diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index fda612f05436c..cfa1a07d4ea45 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -12,12 +12,12 @@ autoware_cmake autoware_lane_departure_checker + autoware_vehicle_cmd_gate control_evaluator external_cmd_converter external_cmd_selector shift_decider trajectory_follower_node - vehicle_cmd_gate ament_lint_auto autoware_lint_common