chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs

Signed-off-by: Esteve Fernandez <[email protected]>

common/tier4_adapi_rviz_plugin/package.xml

@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>

common/tier4_adapi_rviz_plugin/src/door_panel.hpp

@@ -18,7 +18,7 @@
 #include <QGridLayout>
 #include <QLabel>
 #include <QPushButton>
-#include <autoware/ad_api_specs/vehicle.hpp>
+#include <autoware/adapi_specs/vehicle.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
@@ -31,9 +31,9 @@ namespace tier4_adapi_rviz_plugins
 class DoorPanel : public rviz_common::Panel
 {
   Q_OBJECT
-  using DoorCommand = autoware::ad_api_specs::vehicle::DoorCommand;
-  using DoorLayout = autoware::ad_api_specs::vehicle::DoorLayout;
-  using DoorStatus = autoware::ad_api_specs::vehicle::DoorStatus;
+  using DoorCommand = autoware::adapi_specs::vehicle::DoorCommand;
+  using DoorLayout = autoware::adapi_specs::vehicle::DoorLayout;
+  using DoorStatus = autoware::adapi_specs::vehicle::DoorStatus;
 
 public:
   explicit DoorPanel(QWidget * parent = nullptr);

common/tier4_adapi_rviz_plugin/src/route_panel.hpp

@@ -20,7 +20,7 @@
 #include <QGroupBox>
 #include <QLabel>
 #include <QPushButton>
-#include <autoware/ad_api_specs/routing.hpp>
+#include <autoware/adapi_specs/routing.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
@@ -35,9 +35,9 @@ namespace tier4_adapi_rviz_plugins
 class RoutePanel : public rviz_common::Panel
 {
   Q_OBJECT
-  using ClearRoute = autoware::ad_api_specs::routing::ClearRoute;
-  using SetRoutePoints = autoware::ad_api_specs::routing::SetRoutePoints;
-  using ChangeRoutePoints = autoware::ad_api_specs::routing::ChangeRoutePoints;
+  using ClearRoute = autoware::adapi_specs::routing::ClearRoute;
+  using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
 
 public:

common/tier4_camera_view_rviz_plugin/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libqt5-core</depend>

system/autoware_default_adapi/package.xml

@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_adapi_version_msgs</depend>
   <depend>autoware_component_interface_specs</depend>

system/autoware_default_adapi/src/compatibility/autoware_state.hpp

@@ -15,9 +15,9 @@
 #ifndef COMPATIBILITY__AUTOWARE_STATE_HPP_
 #define COMPATIBILITY__AUTOWARE_STATE_HPP_
 
-#include <autoware/ad_api_specs/localization.hpp>
-#include <autoware/ad_api_specs/operation_mode.hpp>
-#include <autoware/ad_api_specs/routing.hpp>
+#include <autoware/adapi_specs/localization.hpp>
+#include <autoware/adapi_specs/operation_mode.hpp>
+#include <autoware/adapi_specs/routing.hpp>
 
 #include <autoware_system_msgs/msg/autoware_state.hpp>
 #include <std_srvs/srv/trigger.hpp>
@@ -40,14 +40,14 @@ class AutowareStateNode : public rclcpp::Node
   using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable;
   rclcpp::TimerBase::SharedPtr timer_;
   // emergency
-  Sub<autoware::ad_api_specs::localization::InitializationState> sub_localization_;
-  Sub<autoware::ad_api_specs::routing::RouteState> sub_routing_;
-  Sub<autoware::ad_api_specs::operation_mode::OperationModeState> sub_operation_mode_;
+  Sub<autoware::adapi_specs::localization::InitializationState> sub_localization_;
+  Sub<autoware::adapi_specs::routing::RouteState> sub_routing_;
+  Sub<autoware::adapi_specs::operation_mode::OperationModeState> sub_operation_mode_;
 
   using AutowareState = autoware_system_msgs::msg::AutowareState;
-  using LocalizationState = autoware::ad_api_specs::localization::InitializationState::Message;
-  using RoutingState = autoware::ad_api_specs::routing::RouteState::Message;
-  using OperationModeState = autoware::ad_api_specs::operation_mode::OperationModeState::Message;
+  using LocalizationState = autoware::adapi_specs::localization::InitializationState::Message;
+  using RoutingState = autoware::adapi_specs::routing::RouteState::Message;
+  using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState::Message;
   using Trigger = std_srvs::srv::Trigger;
   std::vector<bool> component_states_;
   std::vector<rclcpp::Subscription<ModeChangeAvailable>::SharedPtr> sub_component_states_;

system/autoware_default_adapi/src/fail_safe.hpp

@@ -15,7 +15,7 @@
 #ifndef FAIL_SAFE_HPP_
 #define FAIL_SAFE_HPP_
 
-#include <autoware/ad_api_specs/fail_safe.hpp>
+#include <autoware/adapi_specs/fail_safe.hpp>
 #include <autoware/component_interface_specs/system.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -32,8 +32,8 @@ class FailSafeNode : public rclcpp::Node
   explicit FailSafeNode(const rclcpp::NodeOptions & options);
 
 private:
-  using MrmState = autoware::ad_api_specs::fail_safe::MrmState::Message;
-  Pub<autoware::ad_api_specs::fail_safe::MrmState> pub_mrm_state_;
+  using MrmState = autoware::adapi_specs::fail_safe::MrmState::Message;
+  Pub<autoware::adapi_specs::fail_safe::MrmState> pub_mrm_state_;
   Sub<autoware::component_interface_specs::system::MrmState> sub_mrm_state_;
   MrmState prev_state_;
   void on_state(const MrmState::ConstSharedPtr msg);

system/autoware_default_adapi/src/heartbeat.cpp

@@ -23,7 +23,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb
 {
   // Move this function so that the timer no longer holds it as a reference.
   const auto on_timer = [this]() {
-    autoware::ad_api_specs::system::Heartbeat::Message heartbeat;
+    autoware::adapi_specs::system::Heartbeat::Message heartbeat;
     heartbeat.stamp = now();
     heartbeat.seq = ++sequence_;  // Wraps at 65535.
     pub_->publish(heartbeat);

system/autoware_default_adapi/src/heartbeat.hpp

@@ -15,7 +15,7 @@
 #ifndef HEARTBEAT_HPP_
 #define HEARTBEAT_HPP_
 
-#include <autoware/ad_api_specs/system.hpp>
+#include <autoware/adapi_specs/system.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -31,7 +31,7 @@ class HeartbeatNode : public rclcpp::Node
 
 private:
   rclcpp::TimerBase::SharedPtr timer_;
-  Pub<autoware::ad_api_specs::system::Heartbeat> pub_;
+  Pub<autoware::adapi_specs::system::Heartbeat> pub_;
   uint16_t sequence_ = 0;
 };
 

system/autoware_default_adapi/src/interface.hpp

@@ -15,7 +15,7 @@
 #ifndef INTERFACE_HPP_
 #define INTERFACE_HPP_
 
-#include <autoware/ad_api_specs/interface.hpp>
+#include <autoware/adapi_specs/interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -30,7 +30,7 @@ class InterfaceNode : public rclcpp::Node
   explicit InterfaceNode(const rclcpp::NodeOptions & options);
 
 private:
-  Srv<autoware::ad_api_specs::interface::Version> srv_;
+  Srv<autoware::adapi_specs::interface::Version> srv_;
 };
 
 }  // namespace autoware::default_adapi

system/autoware_default_adapi/src/localization.cpp

@@ -30,8 +30,8 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options)
 }
 
 void LocalizationNode::on_initialize(
-  const autoware::ad_api_specs::localization::Initialize::Service::Request::SharedPtr req,
-  const autoware::ad_api_specs::localization::Initialize::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res)
 {
   res->status = localization_conversion::convert_call(cli_initialize_, req);
 }

system/autoware_default_adapi/src/localization.hpp

@@ -15,7 +15,7 @@
 #ifndef LOCALIZATION_HPP_
 #define LOCALIZATION_HPP_
 
-#include <autoware/ad_api_specs/localization.hpp>
+#include <autoware/adapi_specs/localization.hpp>
 #include <autoware/component_interface_specs/localization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -32,14 +32,14 @@ class LocalizationNode : public rclcpp::Node
 
 private:
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Srv<autoware::ad_api_specs::localization::Initialize> srv_initialize_;
-  Pub<autoware::ad_api_specs::localization::InitializationState> pub_state_;
+  Srv<autoware::adapi_specs::localization::Initialize> srv_initialize_;
+  Pub<autoware::adapi_specs::localization::InitializationState> pub_state_;
   Cli<autoware::component_interface_specs::localization::Initialize> cli_initialize_;
   Sub<autoware::component_interface_specs::localization::InitializationState> sub_state_;
 
   void on_initialize(
-    const autoware::ad_api_specs::localization::Initialize::Service::Request::SharedPtr req,
-    const autoware::ad_api_specs::localization::Initialize::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res);
 };
 
 }  // namespace autoware::default_adapi

system/autoware_default_adapi/src/motion.cpp

@@ -88,7 +88,7 @@ void MotionNode::update_state()
 
 void MotionNode::change_state(const State state)
 {
-  using MotionState = autoware::ad_api_specs::motion::State::Message;
+  using MotionState = autoware::adapi_specs::motion::State::Message;
   static const auto mapping = std::unordered_map<State, MotionState::_state_type>(
     {{State::Unknown, MotionState::UNKNOWN},
      {State::Pausing, MotionState::STOPPED},
@@ -149,11 +149,11 @@ void MotionNode::on_is_start_requested(
 }
 
 void MotionNode::on_accept(
-  const autoware::ad_api_specs::motion::AcceptStart::Service::Request::SharedPtr,
-  const autoware::ad_api_specs::motion::AcceptStart::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr,
+  const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res)
 {
   if (state_ != State::Starting) {
-    using AcceptStartResponse = autoware::ad_api_specs::motion::AcceptStart::Service::Response;
+    using AcceptStartResponse = autoware::adapi_specs::motion::AcceptStart::Service::Response;
     throw autoware::component_interface_utils::ServiceException(
       AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting");
   }

system/autoware_default_adapi/src/motion.hpp

@@ -15,7 +15,7 @@
 #ifndef MOTION_HPP_
 #define MOTION_HPP_
 
-#include <autoware/ad_api_specs/motion.hpp>
+#include <autoware/adapi_specs/motion.hpp>
 #include <autoware/component_interface_specs/control.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <autoware/component_interface_utils/status.hpp>
@@ -37,8 +37,8 @@ class MotionNode : public rclcpp::Node
   autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_;
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Srv<autoware::ad_api_specs::motion::AcceptStart> srv_accept_;
-  Pub<autoware::ad_api_specs::motion::State> pub_state_;
+  Srv<autoware::adapi_specs::motion::AcceptStart> srv_accept_;
+  Pub<autoware::adapi_specs::motion::State> pub_state_;
   Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
   Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
   Sub<autoware::component_interface_specs::control::IsStartRequested> sub_is_start_requested_;
@@ -63,8 +63,8 @@ class MotionNode : public rclcpp::Node
     const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr
       msg);
   void on_accept(
-    const autoware::ad_api_specs::motion::AcceptStart::Service::Request::SharedPtr req,
-    const autoware::ad_api_specs::motion::AcceptStart::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res);
 };
 
 }  // namespace autoware::default_adapi

system/autoware_default_adapi/src/operation_mode.hpp

@@ -15,7 +15,7 @@
 #ifndef OPERATION_MODE_HPP_
 #define OPERATION_MODE_HPP_
 
-#include <autoware/ad_api_specs/operation_mode.hpp>
+#include <autoware/adapi_specs/operation_mode.hpp>
 #include <autoware/component_interface_specs/system.hpp>
 #include <autoware/component_interface_utils/status.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -38,13 +38,13 @@ class OperationModeNode : public rclcpp::Node
   explicit OperationModeNode(const rclcpp::NodeOptions & options);
 
 private:
-  using OperationModeState = autoware::ad_api_specs::operation_mode::OperationModeState;
-  using EnableAutowareControl = autoware::ad_api_specs::operation_mode::EnableAutowareControl;
-  using DisableAutowareControl = autoware::ad_api_specs::operation_mode::DisableAutowareControl;
-  using ChangeToStop = autoware::ad_api_specs::operation_mode::ChangeToStop;
-  using ChangeToAutonomous = autoware::ad_api_specs::operation_mode::ChangeToAutonomous;
-  using ChangeToLocal = autoware::ad_api_specs::operation_mode::ChangeToLocal;
-  using ChangeToRemote = autoware::ad_api_specs::operation_mode::ChangeToRemote;
+  using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState;
+  using EnableAutowareControl = autoware::adapi_specs::operation_mode::EnableAutowareControl;
+  using DisableAutowareControl = autoware::adapi_specs::operation_mode::DisableAutowareControl;
+  using ChangeToStop = autoware::adapi_specs::operation_mode::ChangeToStop;
+  using ChangeToAutonomous = autoware::adapi_specs::operation_mode::ChangeToAutonomous;
+  using ChangeToLocal = autoware::adapi_specs::operation_mode::ChangeToLocal;
+  using ChangeToRemote = autoware::adapi_specs::operation_mode::ChangeToRemote;
   using OperationModeRequest =
     autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
   using AutowareControlRequest =
@@ -57,13 +57,13 @@ class OperationModeNode : public rclcpp::Node
 
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   rclcpp::TimerBase::SharedPtr timer_;
-  Pub<autoware::ad_api_specs::operation_mode::OperationModeState> pub_state_;
-  Srv<autoware::ad_api_specs::operation_mode::ChangeToStop> srv_stop_mode_;
-  Srv<autoware::ad_api_specs::operation_mode::ChangeToAutonomous> srv_autonomous_mode_;
-  Srv<autoware::ad_api_specs::operation_mode::ChangeToLocal> srv_local_mode_;
-  Srv<autoware::ad_api_specs::operation_mode::ChangeToRemote> srv_remote_mode_;
-  Srv<autoware::ad_api_specs::operation_mode::EnableAutowareControl> srv_enable_control_;
-  Srv<autoware::ad_api_specs::operation_mode::DisableAutowareControl> srv_disable_control_;
+  Pub<autoware::adapi_specs::operation_mode::OperationModeState> pub_state_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToStop> srv_stop_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToAutonomous> srv_autonomous_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToLocal> srv_local_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToRemote> srv_remote_mode_;
+  Srv<autoware::adapi_specs::operation_mode::EnableAutowareControl> srv_enable_control_;
+  Srv<autoware::adapi_specs::operation_mode::DisableAutowareControl> srv_disable_control_;
   Sub<autoware::component_interface_specs::system::OperationModeState> sub_state_;
   Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_mode_;
   Cli<autoware::component_interface_specs::system::ChangeAutowareControl> cli_control_;

system/autoware_default_adapi/src/perception.cpp

@@ -19,7 +19,7 @@
 namespace autoware::default_adapi
 {
 
-using DynamicObjectArray = autoware::ad_api_specs::perception::DynamicObjectArray;
+using DynamicObjectArray = autoware::adapi_specs::perception::DynamicObjectArray;
 using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification;
 using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject;
 using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath;

system/autoware_default_adapi/src/perception.hpp

@@ -15,7 +15,7 @@
 #ifndef PERCEPTION_HPP_
 #define PERCEPTION_HPP_
 
-#include <autoware/ad_api_specs/perception.hpp>
+#include <autoware/adapi_specs/perception.hpp>
 #include <autoware/component_interface_specs/perception.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -40,7 +40,7 @@ class PerceptionNode : public rclcpp::Node
   explicit PerceptionNode(const rclcpp::NodeOptions & options);
 
 private:
-  Pub<autoware::ad_api_specs::perception::DynamicObjectArray> pub_object_recognized_;
+  Pub<autoware::adapi_specs::perception::DynamicObjectArray> pub_object_recognized_;
   Sub<autoware::component_interface_specs::perception::ObjectRecognition> sub_object_recognized_;
   void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition::
                           Message::ConstSharedPtr msg);

system/autoware_default_adapi/src/planning.hpp

@@ -15,7 +15,7 @@
 #ifndef PLANNING_HPP_
 #define PLANNING_HPP_
 
-#include <autoware/ad_api_specs/planning.hpp>
+#include <autoware/adapi_specs/planning.hpp>
 #include <autoware/component_interface_specs/localization.hpp>
 #include <autoware/component_interface_specs/planning.hpp>
 #include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
@@ -38,8 +38,8 @@ class PlanningNode : public rclcpp::Node
 private:
   using VelocityFactorArray = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
   using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
-  Pub<autoware::ad_api_specs::planning::VelocityFactors> pub_velocity_factors_;
-  Pub<autoware::ad_api_specs::planning::SteeringFactors> pub_steering_factors_;
+  Pub<autoware::adapi_specs::planning::VelocityFactors> pub_velocity_factors_;
+  Pub<autoware::adapi_specs::planning::SteeringFactors> pub_steering_factors_;
   Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
   Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
   std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;