Merge remote-tracking branch 'origin/main' into autoware_msgs_20240604

autowarefoundation · Jun 3, 2024 · 36a6496 · 36a6496
2 parents e57d54d + 25cf700
commit 36a6496
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -147,6 +147,7 @@ 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_template_module/** [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
@@ -173,7 +174,6 @@ planning/behavior_velocity_planner_common/** [email protected] isamu.taka
 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_template_module/** [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]
@@ -218,7 +218,6 @@ simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
 simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 simulator/vehicle_door_simulator/** [email protected]
-system/autoware_auto_msgs_adapter/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
 system/component_state_monitor/** [email protected]
 system/default_ad_api/** [email protected] [email protected] [email protected]

diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -127,9 +127,9 @@ BicycleTracker::BicycleTracker(
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -147,9 +147,9 @@ BigVehicleTracker::BigVehicleTracker(
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -148,9 +148,9 @@ NormalVehicleTracker::NormalVehicleTracker(
       constexpr double p0_stddev_y = 0.3;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -122,9 +122,9 @@ PedestrianTracker::PedestrianTracker(
       constexpr double p0_stddev_y = 2.0;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(1000);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/planning/.pages b/planning/.pages
@@ -19,7 +19,7 @@ nav:
         - 'Start Planner': planning/behavior_path_start_planner_module
   - 'Behavior Velocity Planner':
     - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner
-    - 'Template for Custom Module': planning/behavior_velocity_template_module
+    - 'Template for Custom Module': planning/autoware_behavior_velocity_template_module
     - 'Available Module':
         - 'Blind Spot': planning/behavior_velocity_blind_spot_module
         - 'Crosswalk': planning/behavior_velocity_crosswalk_module

diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
@@ -80,7 +80,7 @@
   <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>
-  <!--<test_depend>behavior_velocity_template_module</test_depend>-->
+  <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

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

diff --git a/...havior_velocity_template_module/README.md → ...havior_velocity_template_module/README.md b/...havior_velocity_template_module/README.md → ...havior_velocity_template_module/README.md
@@ -41,7 +41,7 @@ The managing of your modules is defined in manager.hpp and manager.cpp. The mana
 #### Constructor `TemplateModuleManager`
 
 - This is the constructor of the `TemplateModuleManager` class, and it takes an `rclcpp::Node` reference as a parameter.
-- It initializes a member variable `dummy_parameter` to 0.0.
+- It initializes a member variable `dummy_parameter_` to 0.0.
 
 #### `getModuleName()` Method
 

diff --git a/...emplate_module/config/template.param.yaml → ...emplate_module/config/template.param.yaml b/...emplate_module/config/template.param.yaml → ...emplate_module/config/template.param.yaml
diff --git a/...vior_velocity_template_module/package.xml → ...vior_velocity_template_module/package.xml b/...vior_velocity_template_module/package.xml → ...vior_velocity_template_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_template_module</name>
+  <name>autoware_behavior_velocity_template_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_template_module package</description>
+  <description>The autoware_behavior_velocity_template_module package</description>
 
   <maintainer email="[email protected]">Daniel Sanchez</maintainer>
 

diff --git a/planning/autoware_behavior_velocity_template_module/plugins.xml b/planning/autoware_behavior_velocity_template_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_template_module">
+  <class type="autoware::behavior_velocity_planner::TemplateModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/..._velocity_template_module/src/manager.cpp → ..._velocity_template_module/src/manager.cpp b/..._velocity_template_module/src/manager.cpp → ..._velocity_template_module/src/manager.cpp
@@ -26,15 +26,15 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::getOrDeclareParameter;
 
 TemplateModuleManager::TemplateModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
   std::string ns(getModuleName());
-  dummy_parameter = getOrDeclareParameter<double>(node, ns + ".dummy");
+  dummy_parameter_ = getOrDeclareParameter<double>(node, ns + ".dummy");
 }
 
 void TemplateModuleManager::launchNewModules(
@@ -56,8 +56,9 @@ TemplateModuleManager::getModuleExpiredFunction(
   };
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::TemplateModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::TemplateModulePlugin,
+  behavior_velocity_planner::PluginInterface)
diff --git a/..._velocity_template_module/src/manager.hpp → ..._velocity_template_module/src/manager.hpp b/..._velocity_template_module/src/manager.hpp → ..._velocity_template_module/src/manager.hpp
@@ -27,7 +27,7 @@
 #include <functional>
 #include <memory>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 /**
  * @brief Constructor for the TemplateModuleManager class.
@@ -37,7 +37,7 @@ namespace behavior_velocity_planner
  *
  * @param node A reference to the ROS node.
  */
-class TemplateModuleManager : public SceneModuleManagerInterface
+class TemplateModuleManager : public ::behavior_velocity_planner::SceneModuleManagerInterface
 {
 public:
   explicit TemplateModuleManager(rclcpp::Node & node);
@@ -53,7 +53,7 @@ class TemplateModuleManager : public SceneModuleManagerInterface
   const char * getModuleName() override { return "template"; }
 
 private:
-  double dummy_parameter{0.0};
+  double dummy_parameter_{0.0};
 
   /**
    * @brief Launch new modules based on the provided path.
@@ -84,10 +84,11 @@ class TemplateModuleManager : public SceneModuleManagerInterface
  * The TemplateModulePlugin class is used to integrate the TemplateModuleManager into the Behavior
  * Velocity Planner.
  */
-class TemplateModulePlugin : public PluginWrapper<TemplateModuleManager>
+class TemplateModulePlugin
+: public ::behavior_velocity_planner::PluginWrapper<TemplateModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/...or_velocity_template_module/src/scene.cpp → ...or_velocity_template_module/src/scene.cpp b/...or_velocity_template_module/src/scene.cpp → ...or_velocity_template_module/src/scene.cpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 TemplateModule::TemplateModule(
@@ -49,4 +49,4 @@ bool TemplateModule::modifyPathVelocity(
   return false;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...or_velocity_template_module/src/scene.hpp → ...or_velocity_template_module/src/scene.hpp b/...or_velocity_template_module/src/scene.hpp → ...or_velocity_template_module/src/scene.hpp
@@ -21,9 +21,11 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_planning_msgs::msg::PathWithLaneId;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 
 class TemplateModule : public SceneModuleInterface
 {
@@ -64,6 +66,6 @@ class TemplateModule : public SceneModuleInterface
   motion_utils::VirtualWalls createVirtualWalls() override;
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_
diff --git a/planning/behavior_velocity_template_module/plugins.xml b/planning/behavior_velocity_template_module/plugins.xml
diff --git a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml b/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml
@@ -2,7 +2,7 @@
   <arg name="input/tracks" default="~/input/tracks"/>
   <arg name="output/noise_tracks" default="~/output/noise_tracks"/>
   <arg name="output/filtered_tracks" default="~/output/filtered_tracks"/>
-  <arg name="param_path" default="$(find-pkg-share radar_tracks_noise_filter)/config/object_velocity_splitter.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share radar_tracks_noise_filter)/config/radar_tracks_noise_filter.param.yaml"/>
 
   <node pkg="radar_tracks_noise_filter" exec="radar_tracks_noise_filter_node" name="radar_tracks_noise_filter" output="screen">
     <remap from="~/input/tracks" to="$(var input/tracks)"/>

diff --git a/system/autoware_auto_msgs_adapter/CMakeLists.txt b/system/autoware_auto_msgs_adapter/CMakeLists.txt
diff --git a/system/autoware_auto_msgs_adapter/README.md b/system/autoware_auto_msgs_adapter/README.md
diff --git a/system/autoware_auto_msgs_adapter/config/autoware_auto_msgs_adapter_control.param.yaml b/system/autoware_auto_msgs_adapter/config/autoware_auto_msgs_adapter_control.param.yaml
diff --git a/system/autoware_auto_msgs_adapter/config/autoware_auto_msgs_adapter_map.param.yaml b/system/autoware_auto_msgs_adapter/config/autoware_auto_msgs_adapter_map.param.yaml