refactor(behavior_velocity_stop_line_module): prefix package and name…

…space with autoware_ Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Jun 5, 2024 · 2c6941c · 2c6941c
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Showing 24 changed files with 56 additions and 35 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -146,6 +146,7 @@ perception/traffic_light_occlusion_predictor/** [email protected] tao.zhon
 perception/traffic_light_visualization/** [email protected] [email protected]
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_template_module/** [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
@@ -172,7 +173,6 @@ planning/behavior_velocity_out_of_lane_module/** [email protected] shumpei
 planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]

diff --git a/planning/.pages b/planning/.pages
@@ -32,7 +32,7 @@ nav:
         - 'Out of Lane': planning/behavior_velocity_out_of_lane_module
         - 'Run Out': planning/behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
-        - 'Stop Line': planning/behavior_velocity_stop_line_module
+        - 'Stop Line': planning/autoware_behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module
         - 'Virtual Traffic Light': planning/behavior_velocity_virtual_traffic_light_module
         - 'Walkway': planning/behavior_velocity_walkway_module

diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
@@ -13,7 +13,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Detection Area](../behavior_velocity_detection_area_module/README.md)
 - [Intersection](../behavior_velocity_intersection_module/README.md)
 - [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)
-- [Stop Line](../behavior_velocity_stop_line_module/README.md)
+- [Stop Line](../autoware_behavior_velocity_stop_line_module/README.md)
 - [Virtual Traffic Light](../behavior_velocity_virtual_traffic_light_module/README.md)
 - [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
 - [Occlusion Spot](../behavior_velocity_occlusion_spot_module/README.md)

diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
@@ -65,6 +65,7 @@
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_stop_line_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_velocity_blind_spot_module</test_depend>
   <test_depend>behavior_velocity_crosswalk_module</test_depend>
@@ -76,7 +77,6 @@
   <test_depend>behavior_velocity_out_of_lane_module</test_depend>
   <test_depend>behavior_velocity_run_out_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
-  <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>
   <test_depend>behavior_velocity_virtual_traffic_light_module</test_depend>
   <test_depend>behavior_velocity_walkway_module</test_depend>

diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -54,6 +54,13 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
 
+  // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
+  const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
+    const auto package_name = "behavior_velocity_" + module + "_module";
+    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
+    return package_path + "/config/" + module + ".param.yaml";
+  };
+
   const auto get_behavior_velocity_module_config = [](const std::string & module) {
     const auto package_name = "behavior_velocity_" + module + "_module";
     const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
@@ -70,7 +77,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::StopLineModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin");
@@ -89,20 +96,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
                    velocity_smoother_dir + "/config/Analytical.param.yaml",
                    behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
-                   get_behavior_velocity_module_config("blind_spot"),
-                   get_behavior_velocity_module_config("crosswalk"),
-                   get_behavior_velocity_module_config("walkway"),
-                   get_behavior_velocity_module_config("detection_area"),
-                   get_behavior_velocity_module_config("intersection"),
-                   get_behavior_velocity_module_config("no_stopping_area"),
-                   get_behavior_velocity_module_config("occlusion_spot"),
-                   get_behavior_velocity_module_config("run_out"),
-                   get_behavior_velocity_module_config("speed_bump"),
+                   get_behavior_velocity_module_config_no_prefix("blind_spot"),
+                   get_behavior_velocity_module_config_no_prefix("crosswalk"),
+                   get_behavior_velocity_module_config_no_prefix("walkway"),
+                   get_behavior_velocity_module_config_no_prefix("detection_area"),
+                   get_behavior_velocity_module_config_no_prefix("intersection"),
+                   get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
+                   get_behavior_velocity_module_config_no_prefix("occlusion_spot"),
+                   get_behavior_velocity_module_config_no_prefix("run_out"),
+                   get_behavior_velocity_module_config_no_prefix("speed_bump"),
                    get_behavior_velocity_module_config("stop_line"),
-                   get_behavior_velocity_module_config("traffic_light"),
-                   get_behavior_velocity_module_config("virtual_traffic_light"),
-                   get_behavior_velocity_module_config("out_of_lane"),
-                   get_behavior_velocity_module_config("no_drivable_lane")});
+                   get_behavior_velocity_module_config_no_prefix("traffic_light"),
+                   get_behavior_velocity_module_config_no_prefix("virtual_traffic_light"),
+                   get_behavior_velocity_module_config_no_prefix("out_of_lane"),
+                   get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules
   // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light

diff --git a/..._velocity_stop_line_module/CMakeLists.txt → ..._velocity_stop_line_module/CMakeLists.txt b/..._velocity_stop_line_module/CMakeLists.txt → ..._velocity_stop_line_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_stop_line_module)
+project(autoware_behavior_velocity_stop_line_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...avior_velocity_stop_line_module/README.md → ...avior_velocity_stop_line_module/README.md b/...avior_velocity_stop_line_module/README.md → ...avior_velocity_stop_line_module/README.md
diff --git a/...p_line_module/config/stop_line.param.yaml → ...p_line_module/config/stop_line.param.yaml b/...p_line_module/config/stop_line.param.yaml → ...p_line_module/config/stop_line.param.yaml
diff --git a/...odule/docs/calculate_stop_pose.drawio.svg → ...odule/docs/calculate_stop_pose.drawio.svg b/...odule/docs/calculate_stop_pose.drawio.svg → ...odule/docs/calculate_stop_pose.drawio.svg
diff --git a/...le/docs/find_collision_segment.drawio.svg → ...le/docs/find_collision_segment.drawio.svg b/...le/docs/find_collision_segment.drawio.svg → ...le/docs/find_collision_segment.drawio.svg
diff --git a/...odule/docs/find_offset_segment.drawio.svg → ...odule/docs/find_offset_segment.drawio.svg b/...odule/docs/find_offset_segment.drawio.svg → ...odule/docs/find_offset_segment.drawio.svg
diff --git a/...y_stop_line_module/docs/keep_stopping.svg → ...y_stop_line_module/docs/keep_stopping.svg b/...y_stop_line_module/docs/keep_stopping.svg → ...y_stop_line_module/docs/keep_stopping.svg
diff --git a/...e_module/docs/node_and_segment.drawio.svg → ...e_module/docs/node_and_segment.drawio.svg b/...e_module/docs/node_and_segment.drawio.svg → ...e_module/docs/node_and_segment.drawio.svg
diff --git a/...elocity_stop_line_module/docs/restart.svg → ...elocity_stop_line_module/docs/restart.svg b/...elocity_stop_line_module/docs/restart.svg → ...elocity_stop_line_module/docs/restart.svg
diff --git a/...p_line_module/docs/restart_prevention.svg → ...p_line_module/docs/restart_prevention.svg b/...p_line_module/docs/restart_prevention.svg → ...p_line_module/docs/restart_prevention.svg
diff --git a/...ocity_stop_line_module/docs/stop_line.svg → ...ocity_stop_line_module/docs/stop_line.svg b/...ocity_stop_line_module/docs/stop_line.svg → ...ocity_stop_line_module/docs/stop_line.svg
diff --git a/...ior_velocity_stop_line_module/package.xml → ...ior_velocity_stop_line_module/package.xml b/...ior_velocity_stop_line_module/package.xml → ...ior_velocity_stop_line_module/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_velocity_stop_line_module</name>
+  <name>autoware_behavior_velocity_stop_line_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_stop_line_module package</description>
+  <description>The autoware_behavior_velocity_stop_line_module package</description>
 
   <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
   <maintainer email="[email protected]">Zhe Shen</maintainer>

diff --git a/planning/autoware_behavior_velocity_stop_line_module/plugins.xml b/planning/autoware_behavior_velocity_stop_line_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_stop_line_module">
+  <class type="autoware::behavior_velocity_planner::StopLineModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/...r_velocity_stop_line_module/src/debug.cpp → ...r_velocity_stop_line_module/src/debug.cpp b/...r_velocity_stop_line_module/src/debug.cpp → ...r_velocity_stop_line_module/src/debug.cpp
@@ -24,7 +24,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createMarkerColor;
@@ -111,4 +111,4 @@ motion_utils::VirtualWalls StopLineModule::createVirtualWalls()
   }
   return virtual_walls;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...velocity_stop_line_module/src/manager.cpp → ...velocity_stop_line_module/src/manager.cpp b/...velocity_stop_line_module/src/manager.cpp → ...velocity_stop_line_module/src/manager.cpp
@@ -21,10 +21,11 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using lanelet::TrafficSign;
 using tier4_autoware_utils::getOrDeclareParameter;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
@@ -102,8 +103,8 @@ StopLineModuleManager::getModuleExpiredFunction(
   };
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::StopLineModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::StopLineModulePlugin, ::behavior_velocity_planner::PluginInterface)
diff --git a/...velocity_stop_line_module/src/manager.hpp → ...velocity_stop_line_module/src/manager.hpp b/...velocity_stop_line_module/src/manager.hpp → ...velocity_stop_line_module/src/manager.hpp
@@ -30,8 +30,11 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PluginWrapper;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 using StopLineWithLaneId = std::pair<lanelet::ConstLineString3d, int64_t>;
 
 class StopLineModuleManager : public SceneModuleManagerInterface
@@ -62,6 +65,6 @@ class StopLineModulePlugin : public PluginWrapper<StopLineModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/...r_velocity_stop_line_module/src/scene.cpp → ...r_velocity_stop_line_module/src/scene.cpp b/...r_velocity_stop_line_module/src/scene.cpp → ...r_velocity_stop_line_module/src/scene.cpp
@@ -21,8 +21,13 @@
 #include <algorithm>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlanningBehavior;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::VelocityFactor;
+namespace arc_lane_utils = ::behavior_velocity_planner::arc_lane_utils;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 namespace bg = boost::geometry;
 
 StopLineModule::StopLineModule(
@@ -177,4 +182,4 @@ geometry_msgs::msg::Point StopLineModule::getCenterOfStopLine(
   center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0;
   return center_point;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...r_velocity_stop_line_module/src/scene.hpp → ...r_velocity_stop_line_module/src/scene.hpp b/...r_velocity_stop_line_module/src/scene.hpp → ...r_velocity_stop_line_module/src/scene.hpp
@@ -33,8 +33,13 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::LineString2d;
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::Point2d;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 class StopLineModule : public SceneModuleInterface
 {
   using StopLineWithLaneId = std::pair<lanelet::ConstLineString3d, int64_t>;
@@ -106,6 +111,6 @@ class StopLineModule : public SceneModuleInterface
   // Debug
   DebugData debug_data_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_
diff --git a/planning/behavior_velocity_stop_line_module/plugins.xml b/planning/behavior_velocity_stop_line_module/plugins.xml