diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dd73e823b6c05..05a862192c362 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -146,6 +146,7 @@ perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhon perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai @@ -172,7 +173,6 @@ planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp diff --git a/planning/.pages b/planning/.pages index a9a9e3dd7e55b..d26c08470102f 100644 --- 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 index 5d3e6e08a8810..dc2be422fc847 100644 --- 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 index 1ef2a919f6290..71f825b1e6016 100644 --- a/planning/autoware_behavior_velocity_planner/package.xml +++ b/planning/autoware_behavior_velocity_planner/package.xml @@ -65,6 +65,7 @@ ament_cmake_ros ament_lint_auto + autoware_behavior_velocity_stop_line_module autoware_lint_common behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module @@ -76,7 +77,6 @@ behavior_velocity_out_of_lane_module behavior_velocity_run_out_module behavior_velocity_speed_bump_module - behavior_velocity_stop_line_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module 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 index 3f60c904d6eb4..a417b5a399138 100644 --- 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 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 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 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/planning/behavior_velocity_stop_line_module/CMakeLists.txt b/planning/autoware_behavior_velocity_stop_line_module/CMakeLists.txt similarity index 86% rename from planning/behavior_velocity_stop_line_module/CMakeLists.txt rename to planning/autoware_behavior_velocity_stop_line_module/CMakeLists.txt index bef98aafe6f75..402eb5e20aa24 100644 --- a/planning/behavior_velocity_stop_line_module/CMakeLists.txt +++ b/planning/autoware_behavior_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/planning/behavior_velocity_stop_line_module/README.md b/planning/autoware_behavior_velocity_stop_line_module/README.md similarity index 100% rename from planning/behavior_velocity_stop_line_module/README.md rename to planning/autoware_behavior_velocity_stop_line_module/README.md diff --git a/planning/behavior_velocity_stop_line_module/config/stop_line.param.yaml b/planning/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml similarity index 100% rename from planning/behavior_velocity_stop_line_module/config/stop_line.param.yaml rename to planning/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml diff --git a/planning/behavior_velocity_stop_line_module/docs/calculate_stop_pose.drawio.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/calculate_stop_pose.drawio.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/calculate_stop_pose.drawio.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/calculate_stop_pose.drawio.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/find_collision_segment.drawio.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/find_collision_segment.drawio.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/find_collision_segment.drawio.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/find_collision_segment.drawio.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/find_offset_segment.drawio.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/find_offset_segment.drawio.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/find_offset_segment.drawio.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/find_offset_segment.drawio.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/keep_stopping.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/keep_stopping.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/keep_stopping.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/keep_stopping.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/node_and_segment.drawio.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/node_and_segment.drawio.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/node_and_segment.drawio.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/node_and_segment.drawio.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/restart.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/restart.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/restart.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/restart.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/restart_prevention.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/restart_prevention.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/restart_prevention.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/restart_prevention.svg diff --git a/planning/behavior_velocity_stop_line_module/docs/stop_line.svg b/planning/autoware_behavior_velocity_stop_line_module/docs/stop_line.svg similarity index 100% rename from planning/behavior_velocity_stop_line_module/docs/stop_line.svg rename to planning/autoware_behavior_velocity_stop_line_module/docs/stop_line.svg diff --git a/planning/behavior_velocity_stop_line_module/package.xml b/planning/autoware_behavior_velocity_stop_line_module/package.xml similarity index 90% rename from planning/behavior_velocity_stop_line_module/package.xml rename to planning/autoware_behavior_velocity_stop_line_module/package.xml index c71ecb83098fb..e72f6cc99079d 100644 --- a/planning/behavior_velocity_stop_line_module/package.xml +++ b/planning/autoware_behavior_velocity_stop_line_module/package.xml @@ -1,9 +1,9 @@ - behavior_velocity_stop_line_module + autoware_behavior_velocity_stop_line_module 0.1.0 - The behavior_velocity_stop_line_module package + The autoware_behavior_velocity_stop_line_module package Fumiya Watanabe Zhe Shen diff --git a/planning/autoware_behavior_velocity_stop_line_module/plugins.xml b/planning/autoware_behavior_velocity_stop_line_module/plugins.xml new file mode 100644 index 0000000000000..625623711a6cc --- /dev/null +++ b/planning/autoware_behavior_velocity_stop_line_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_velocity_stop_line_module/src/debug.cpp b/planning/autoware_behavior_velocity_stop_line_module/src/debug.cpp similarity index 97% rename from planning/behavior_velocity_stop_line_module/src/debug.cpp rename to planning/autoware_behavior_velocity_stop_line_module/src/debug.cpp index f63bdca5068a2..4e3ad4555a77e 100644 --- a/planning/behavior_velocity_stop_line_module/src/debug.cpp +++ b/planning/autoware_behavior_velocity_stop_line_module/src/debug.cpp @@ -24,7 +24,7 @@ #include #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/planning/behavior_velocity_stop_line_module/src/manager.cpp b/planning/autoware_behavior_velocity_stop_line_module/src/manager.cpp similarity index 93% rename from planning/behavior_velocity_stop_line_module/src/manager.cpp rename to planning/autoware_behavior_velocity_stop_line_module/src/manager.cpp index b37b3b119178c..08373741a2c89 100644 --- a/planning/behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -21,10 +21,11 @@ #include #include -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_EXPORT_CLASS( - behavior_velocity_planner::StopLineModulePlugin, behavior_velocity_planner::PluginInterface) + autoware::behavior_velocity_planner::StopLineModulePlugin, ::behavior_velocity_planner::PluginInterface) diff --git a/planning/behavior_velocity_stop_line_module/src/manager.hpp b/planning/autoware_behavior_velocity_stop_line_module/src/manager.hpp similarity index 88% rename from planning/behavior_velocity_stop_line_module/src/manager.hpp rename to planning/autoware_behavior_velocity_stop_line_module/src/manager.hpp index af9dbaa083c33..78039636e6d0b 100644 --- a/planning/behavior_velocity_stop_line_module/src/manager.hpp +++ b/planning/autoware_behavior_velocity_stop_line_module/src/manager.hpp @@ -30,8 +30,11 @@ #include #include -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; class StopLineModuleManager : public SceneModuleManagerInterface @@ -62,6 +65,6 @@ class StopLineModulePlugin : public PluginWrapper { }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // MANAGER_HPP_ diff --git a/planning/behavior_velocity_stop_line_module/src/scene.cpp b/planning/autoware_behavior_velocity_stop_line_module/src/scene.cpp similarity index 94% rename from planning/behavior_velocity_stop_line_module/src/scene.cpp rename to planning/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 976acd98fe42b..b477e8ded15b1 100644 --- a/planning/behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -21,8 +21,13 @@ #include #include -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/planning/behavior_velocity_stop_line_module/src/scene.hpp b/planning/autoware_behavior_velocity_stop_line_module/src/scene.hpp similarity index 89% rename from planning/behavior_velocity_stop_line_module/src/scene.hpp rename to planning/autoware_behavior_velocity_stop_line_module/src/scene.hpp index 70c67df623c85..04e369a0f4ae5 100644 --- a/planning/behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -33,8 +33,13 @@ #include #include -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; @@ -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 deleted file mode 100644 index 51fb225fbebad..0000000000000 --- a/planning/behavior_velocity_stop_line_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - -