From 589fee403543ca4db4ecb0ebb41cb54e1d05f74f Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 29 Oct 2024 10:24:17 +0100 Subject: [PATCH] refactor(component_interface_specs): prefix package and namespace with autoware (#9094) Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../component_interface_specs/control.hpp | 10 +-- .../localization.hpp | 10 +-- .../component_interface_specs/map.hpp | 10 +-- .../component_interface_specs/perception.hpp | 10 +-- .../component_interface_specs/planning.hpp | 10 +-- .../component_interface_specs/system.hpp | 10 +-- .../component_interface_specs/vehicle.hpp | 10 +-- .../package.xml | 4 +- .../test/gtest_main.cpp | 0 .../test/test_control.cpp | 8 +- .../test/test_localization.cpp | 8 +- .../test/test_map.cpp | 4 +- .../test/test_perception.cpp | 4 +- .../test/test_planning.cpp | 8 +- .../test/test_system.cpp | 6 +- .../test/test_vehicle.cpp | 12 +-- .../autoware_test_utils.hpp | 2 +- common/autoware_test_utils/package.xml | 2 +- .../package.xml | 2 +- .../src/node.hpp | 9 ++- control/autoware_vehicle_cmd_gate/package.xml | 2 +- .../src/adapi_pause_interface.hpp | 8 +- .../src/moderate_stop_interface.hpp | 8 +- .../predicted_path_checker_node.hpp | 14 ++-- control/predicted_path_checker/package.xml | 2 +- .../predicted_path_checker_node.cpp | 5 +- .../autoware_geo_pose_projector/package.xml | 2 +- .../src/geo_pose_projector.hpp | 4 +- .../autoware_pose_initializer/package.xml | 2 +- .../src/ekf_localization_trigger_module.cpp | 4 +- .../src/gnss_module.cpp | 4 +- .../src/localization_module.cpp | 4 +- .../src/ndt_localization_trigger_module.cpp | 4 +- .../src/pose_initializer_core.hpp | 6 +- .../map_projection_loader.hpp | 4 +- .../package.xml | 2 +- .../map_loader/lanelet2_map_loader_node.hpp | 4 +- map/map_loader/package.xml | 2 +- .../autoware_planning_test_manager.hpp | 2 +- .../package.xml | 2 +- .../autoware/gnss_poser/gnss_poser_node.hpp | 4 +- sensing/autoware_gnss_poser/package.xml | 2 +- system/autoware_default_adapi/package.xml | 2 +- .../autoware_default_adapi/src/fail_safe.hpp | 4 +- .../src/localization.hpp | 6 +- system/autoware_default_adapi/src/motion.cpp | 8 +- system/autoware_default_adapi/src/motion.hpp | 14 ++-- .../src/operation_mode.hpp | 14 ++-- .../autoware_default_adapi/src/perception.cpp | 3 +- .../autoware_default_adapi/src/perception.hpp | 7 +- .../autoware_default_adapi/src/planning.hpp | 12 +-- system/autoware_default_adapi/src/routing.cpp | 3 +- system/autoware_default_adapi/src/routing.hpp | 24 +++--- system/autoware_default_adapi/src/vehicle.cpp | 20 +++-- system/autoware_default_adapi/src/vehicle.hpp | 74 ++++++++++++------- .../src/vehicle_door.cpp | 6 +- .../src/vehicle_door.hpp | 13 ++-- 59 files changed, 243 insertions(+), 201 deletions(-) rename common/{component_interface_specs => autoware_component_interface_specs}/CMakeLists.txt (90%) rename common/{component_interface_specs => autoware_component_interface_specs}/README.md (61%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/control.hpp (88%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/localization.hpp (86%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/map.hpp (78%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/perception.hpp (77%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/planning.hpp (89%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/system.hpp (86%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/vehicle.hpp (92%) rename common/{component_interface_specs => autoware_component_interface_specs}/package.xml (90%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/gtest_main.cpp (100%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_control.cpp (84%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_localization.cpp (83%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_map.cpp (88%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_perception.cpp (87%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_planning.cpp (83%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_system.cpp (85%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_vehicle.cpp (81%) diff --git a/common/component_interface_specs/CMakeLists.txt b/common/autoware_component_interface_specs/CMakeLists.txt similarity index 90% rename from common/component_interface_specs/CMakeLists.txt rename to common/autoware_component_interface_specs/CMakeLists.txt index 146f3688513cd..a4e93cc8f04f9 100644 --- a/common/component_interface_specs/CMakeLists.txt +++ b/common/autoware_component_interface_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_specs) +project(autoware_component_interface_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_specs/README.md b/common/autoware_component_interface_specs/README.md similarity index 61% rename from common/component_interface_specs/README.md rename to common/autoware_component_interface_specs/README.md index b9fcd83a29dc0..9d9298a95e329 100644 --- a/common/component_interface_specs/README.md +++ b/common/autoware_component_interface_specs/README.md @@ -1,3 +1,3 @@ -# component_interface_specs +# autoware_component_interface_specs This package is a specification of component interfaces. diff --git a/common/component_interface_specs/include/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp similarity index 88% rename from common/component_interface_specs/include/component_interface_specs/control.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp index dfa708dd33403..03c93d75d674b 100644 --- a/common/component_interface_specs/include/component_interface_specs/control.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ -#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace control_interface +namespace autoware::component_interface_specs::control { struct SetPause @@ -65,6 +65,6 @@ struct IsStopped static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace control_interface +} // namespace autoware::component_interface_specs::control -#endif // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/localization.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp index e00d8cef1840d..b2e41a179506a 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ -#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace localization_interface +namespace autoware::component_interface_specs::localization { struct Initialize @@ -58,6 +58,6 @@ struct Acceleration static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace localization_interface +} // namespace autoware::component_interface_specs::localization -#endif // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp similarity index 78% rename from common/component_interface_specs/include/component_interface_specs/map.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dc162d4a7267a..dd1c300a7a2ca 100644 --- a/common/component_interface_specs/include/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_ -#define COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ #include #include -namespace map_interface +namespace autoware::component_interface_specs::map { struct MapProjectorInfo @@ -31,6 +31,6 @@ struct MapProjectorInfo static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace map_interface +} // namespace autoware::component_interface_specs::map -#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp similarity index 77% rename from common/component_interface_specs/include/component_interface_specs/perception.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp index 0c72dbdb12078..4f450e6a3ee1c 100644 --- a/common/component_interface_specs/include/component_interface_specs/perception.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ -#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ #include #include -namespace perception_interface +namespace autoware::component_interface_specs::perception { struct ObjectRecognition @@ -31,6 +31,6 @@ struct ObjectRecognition static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace perception_interface +} // namespace autoware::component_interface_specs::perception -#endif // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp similarity index 89% rename from common/component_interface_specs/include/component_interface_specs/planning.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp index 58aba53d8ac8a..247844123881b 100644 --- a/common/component_interface_specs/include/component_interface_specs/planning.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ -#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace planning_interface +namespace autoware::component_interface_specs::planning { struct SetLaneletRoute @@ -73,6 +73,6 @@ struct Trajectory static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace planning_interface +} // namespace autoware::component_interface_specs::planning -#endif // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/system.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp index 2132d16dd2969..6ae3447c0786d 100644 --- a/common/component_interface_specs/include/component_interface_specs/system.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ -#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace system_interface +namespace autoware::component_interface_specs::system { struct MrmState @@ -55,6 +55,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace system_interface +} // namespace autoware::component_interface_specs::system -#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp similarity index 92% rename from common/component_interface_specs/include/component_interface_specs/vehicle.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp index e7ce2c5212a25..945853d8f532e 100644 --- a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ -#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ #include @@ -26,7 +26,7 @@ #include #include -namespace vehicle_interface +namespace autoware::component_interface_specs::vehicle { struct SteeringStatus @@ -95,6 +95,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace vehicle_interface +} // namespace autoware::component_interface_specs::vehicle -#endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml similarity index 90% rename from common/component_interface_specs/package.xml rename to common/autoware_component_interface_specs/package.xml index fa57bb1641eed..3e53968a94d61 100644 --- a/common/component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -1,9 +1,9 @@ - component_interface_specs + autoware_component_interface_specs 0.0.0 - The component_interface_specs package + The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_specs/test/gtest_main.cpp b/common/autoware_component_interface_specs/test/gtest_main.cpp similarity index 100% rename from common/component_interface_specs/test/gtest_main.cpp rename to common/autoware_component_interface_specs/test/gtest_main.cpp diff --git a/common/component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp similarity index 84% rename from common/component_interface_specs/test/test_control.cpp rename to common/autoware_component_interface_specs/test/test_control.cpp index 366641eacbd23..db6e7817e7a9d 100644 --- a/common/component_interface_specs/test/test_control.cpp +++ b/common/autoware_component_interface_specs/test/test_control.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/control.hpp" +#include "autoware/component_interface_specs/control.hpp" #include "gtest/gtest.h" TEST(control, interface) { { - using control_interface::IsPaused; + using autoware::component_interface_specs::control::IsPaused; IsPaused is_paused; size_t depth = 1; EXPECT_EQ(is_paused.depth, depth); @@ -27,7 +27,7 @@ TEST(control, interface) } { - using control_interface::IsStartRequested; + using autoware::component_interface_specs::control::IsStartRequested; IsStartRequested is_start_requested; size_t depth = 1; EXPECT_EQ(is_start_requested.depth, depth); @@ -36,7 +36,7 @@ TEST(control, interface) } { - using control_interface::IsStopped; + using autoware::component_interface_specs::control::IsStopped; IsStopped is_stopped; size_t depth = 1; EXPECT_EQ(is_stopped.depth, depth); diff --git a/common/component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp similarity index 83% rename from common/component_interface_specs/test/test_localization.cpp rename to common/autoware_component_interface_specs/test/test_localization.cpp index 31d8e139bd69a..18ec5f15acaf8 100644 --- a/common/component_interface_specs/test/test_localization.cpp +++ b/common/autoware_component_interface_specs/test/test_localization.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/localization.hpp" +#include "autoware/component_interface_specs/localization.hpp" #include "gtest/gtest.h" TEST(localization, interface) { { - using localization_interface::InitializationState; + using autoware::component_interface_specs::localization::InitializationState; InitializationState initialization_state; size_t depth = 1; EXPECT_EQ(initialization_state.depth, depth); @@ -27,7 +27,7 @@ TEST(localization, interface) } { - using localization_interface::KinematicState; + using autoware::component_interface_specs::localization::KinematicState; KinematicState kinematic_state; size_t depth = 1; EXPECT_EQ(kinematic_state.depth, depth); @@ -36,7 +36,7 @@ TEST(localization, interface) } { - using localization_interface::Acceleration; + using autoware::component_interface_specs::localization::Acceleration; Acceleration acceleration; size_t depth = 1; EXPECT_EQ(acceleration.depth, depth); diff --git a/common/component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp similarity index 88% rename from common/component_interface_specs/test/test_map.cpp rename to common/autoware_component_interface_specs/test/test_map.cpp index a65f2cb7120d1..aafb33e73c9dc 100644 --- a/common/component_interface_specs/test/test_map.cpp +++ b/common/autoware_component_interface_specs/test/test_map.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/map.hpp" +#include "autoware/component_interface_specs/map.hpp" #include "gtest/gtest.h" TEST(map, interface) { { - using map_interface::MapProjectorInfo; + using autoware::component_interface_specs::map::MapProjectorInfo; MapProjectorInfo map_projector; size_t depth = 1; EXPECT_EQ(map_projector.depth, depth); diff --git a/common/component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp similarity index 87% rename from common/component_interface_specs/test/test_perception.cpp rename to common/autoware_component_interface_specs/test/test_perception.cpp index ec80c06bb119a..8ad6d9dfceb6f 100644 --- a/common/component_interface_specs/test/test_perception.cpp +++ b/common/autoware_component_interface_specs/test/test_perception.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/perception.hpp" +#include "autoware/component_interface_specs/perception.hpp" #include "gtest/gtest.h" TEST(perception, interface) { { - using perception_interface::ObjectRecognition; + using autoware::component_interface_specs::perception::ObjectRecognition; ObjectRecognition object_recognition; size_t depth = 1; EXPECT_EQ(object_recognition.depth, depth); diff --git a/common/component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp similarity index 83% rename from common/component_interface_specs/test/test_planning.cpp rename to common/autoware_component_interface_specs/test/test_planning.cpp index c9cf353de5f34..8278bf86f3861 100644 --- a/common/component_interface_specs/test/test_planning.cpp +++ b/common/autoware_component_interface_specs/test/test_planning.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/planning.hpp" +#include "autoware/component_interface_specs/planning.hpp" #include "gtest/gtest.h" TEST(planning, interface) { { - using planning_interface::RouteState; + using autoware::component_interface_specs::planning::RouteState; RouteState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(planning, interface) } { - using planning_interface::LaneletRoute; + using autoware::component_interface_specs::planning::LaneletRoute; LaneletRoute route; size_t depth = 1; EXPECT_EQ(route.depth, depth); @@ -36,7 +36,7 @@ TEST(planning, interface) } { - using planning_interface::Trajectory; + using autoware::component_interface_specs::planning::Trajectory; Trajectory trajectory; size_t depth = 1; EXPECT_EQ(trajectory.depth, depth); diff --git a/common/component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp similarity index 85% rename from common/component_interface_specs/test/test_system.cpp rename to common/autoware_component_interface_specs/test/test_system.cpp index 416d2effad766..3faff08734905 100644 --- a/common/component_interface_specs/test/test_system.cpp +++ b/common/autoware_component_interface_specs/test/test_system.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/system.hpp" +#include "autoware/component_interface_specs/system.hpp" #include "gtest/gtest.h" TEST(system, interface) { { - using system_interface::MrmState; + using autoware::component_interface_specs::system::MrmState; MrmState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(system, interface) } { - using system_interface::OperationModeState; + using autoware::component_interface_specs::system::OperationModeState; OperationModeState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); diff --git a/common/component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp similarity index 81% rename from common/component_interface_specs/test/test_vehicle.cpp rename to common/autoware_component_interface_specs/test/test_vehicle.cpp index 1f2041b6cb79e..e9ee65e2fa210 100644 --- a/common/component_interface_specs/test/test_vehicle.cpp +++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/vehicle.hpp" +#include "autoware/component_interface_specs/vehicle.hpp" #include "gtest/gtest.h" TEST(vehicle, interface) { { - using vehicle_interface::SteeringStatus; + using autoware::component_interface_specs::vehicle::SteeringStatus; SteeringStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -27,7 +27,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::GearStatus; + using autoware::component_interface_specs::vehicle::GearStatus; GearStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -36,7 +36,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::TurnIndicatorStatus; + using autoware::component_interface_specs::vehicle::TurnIndicatorStatus; TurnIndicatorStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -45,7 +45,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::HazardLightStatus; + using autoware::component_interface_specs::vehicle::HazardLightStatus; HazardLightStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -54,7 +54,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::EnergyStatus; + using autoware::component_interface_specs::vehicle::EnergyStatus; EnergyStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index c5c6cdf015e4d..6b00a0dbdd4dc 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,12 +15,12 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ +#include #include #include #include #include #include -#include #include #include diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 0a4152404ab44..40edd451f3cab 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -16,6 +16,7 @@ autoware_cmake ament_index_cpp + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index de514e70a0f2e..ef6c0bc8d252b 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -12,12 +12,12 @@ autoware_cmake rosidl_default_generators + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp index d9b8eaebc4ead..857217b2b23fc 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.hpp +++ b/control/autoware_operation_mode_transition_manager/src/node.hpp @@ -18,8 +18,8 @@ #include "compatibility.hpp" #include "state.hpp" +#include #include -#include #include #include @@ -35,9 +35,10 @@ class OperationModeTransitionManager : public rclcpp::Node explicit OperationModeTransitionManager(const rclcpp::NodeOptions & options); private: - using ChangeAutowareControlAPI = system_interface::ChangeAutowareControl; - using ChangeOperationModeAPI = system_interface::ChangeOperationMode; - using OperationModeStateAPI = system_interface::OperationModeState; + using ChangeAutowareControlAPI = + autoware::component_interface_specs::system::ChangeAutowareControl; + using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode; + using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState; component_interface_utils::Service::SharedPtr srv_autoware_control_; component_interface_utils::Service::SharedPtr srv_operation_mode_; component_interface_utils::Publisher::SharedPtr pub_operation_mode_; diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 60bbf23f9d5a8..532553da103e9 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -16,12 +16,12 @@ rosidl_default_generators autoware_adapi_v1_msgs + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_updater geometry_msgs diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp index 6f3aa70bcea54..18e9bcead1b2b 100644 --- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp @@ -15,7 +15,7 @@ #ifndef ADAPI_PAUSE_INTERFACE_HPP_ #define ADAPI_PAUSE_INTERFACE_HPP_ -#include +#include #include #include @@ -29,9 +29,9 @@ class AdapiPauseInterface private: static constexpr double eps = 1e-3; using Control = autoware_control_msgs::msg::Control; - using SetPause = control_interface::SetPause; - using IsPaused = control_interface::IsPaused; - using IsStartRequested = control_interface::IsStartRequested; + using SetPause = autoware::component_interface_specs::control::SetPause; + using IsPaused = autoware::component_interface_specs::control::IsPaused; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit AdapiPauseInterface(rclcpp::Node * node); diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp index 012e75d0c207e..a9ac916d3c10d 100644 --- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp @@ -15,7 +15,7 @@ #ifndef MODERATE_STOP_INTERFACE_HPP_ #define MODERATE_STOP_INTERFACE_HPP_ -#include +#include #include #include @@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate class ModerateStopInterface { private: - using SetStop = control_interface::SetStop; - using IsStopped = control_interface::IsStopped; - using IsStartRequested = control_interface::IsStartRequested; + using SetStop = autoware::component_interface_specs::control::SetStop; + using IsStopped = autoware::component_interface_specs::control::IsStopped; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit ModerateStopInterface(rclcpp::Node * node); diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp index b3afcded60438..be3a9eace9aac 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp @@ -15,13 +15,13 @@ #ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#include #include #include #include #include #include #include -#include #include #include #include @@ -96,10 +96,12 @@ class PredictedPathCheckerNode : public rclcpp::Node sub_predicted_trajectory_; rclcpp::Subscription::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_accel_; - component_interface_utils::Subscription::SharedPtr sub_stop_state_; + component_interface_utils::Subscription< + autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_; // Client - component_interface_utils::Client::SharedPtr cli_set_stop_; + component_interface_utils::Client< + autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_; // Data Buffer geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; @@ -108,7 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node PredictedObjects::ConstSharedPtr object_ptr_{nullptr}; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_; - control_interface::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{nullptr}; + autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{ + nullptr}; // Core std::unique_ptr collision_checker_; @@ -126,7 +129,8 @@ class PredictedPathCheckerNode : public rclcpp::Node void onPredictedTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr msg); void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg); - void onIsStopped(const control_interface::IsStopped::Message::ConstSharedPtr msg); + void onIsStopped( + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg); // Timer rclcpp::TimerBase::SharedPtr timer_; diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index 153d11107a8cb..6bceb24c4439d 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -12,13 +12,13 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils boost - component_interface_specs component_interface_utils diagnostic_updater eigen diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index d8cf5c34bf535..4ebde9cc0fc72 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -132,7 +132,7 @@ void PredictedPathCheckerNode::onAccel( } void PredictedPathCheckerNode::onIsStopped( - const control_interface::IsStopped::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg) { is_stopped_ptr_ = msg; @@ -415,7 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle) { if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->stop = make_stop_vehicle; req->request_source = "predicted_path_checker"; is_calling_set_stop_ = true; diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 2d7c09f9e2ce2..4f02d4ff40981 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -17,8 +17,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils - component_interface_specs component_interface_utils geographic_msgs geometry_msgs diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp index 3ece595a7b1bd..493d6cb13246a 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp @@ -15,7 +15,7 @@ #ifndef GEO_POSE_PROJECTOR_HPP_ #define GEO_POSE_PROJECTOR_HPP_ -#include +#include #include #include @@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node private: using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped; using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; public: explicit GeoPoseProjector(const rclcpp::NodeOptions & options); diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index d1ffc4ca4aef5..83a961a322c6a 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -19,11 +19,11 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_localization_util autoware_map_height_fitter autoware_motion_utils autoware_universe_utils - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp index 630635da870b0..525ebfea4f07d 100644 --- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ekf_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp index c5fd1490b271e..6d3979f2675ec 100644 --- a/localization/autoware_pose_initializer/src/gnss_module.cpp +++ b/localization/autoware_pose_initializer/src/gnss_module.cpp @@ -14,7 +14,7 @@ #include "gnss_module.hpp" -#include +#include #include #include @@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg) geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() { - using Initialize = localization_interface::Initialize; + using Initialize = autoware::component_interface_specs::localization::Initialize; if (!pose_) { throw component_interface_utils::ServiceException( diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index 0b2a63a55447b..10345d2a39757 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -14,7 +14,7 @@ #include "localization_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; LocalizationModule::LocalizationModule(rclcpp::Node * node, const std::string & service_name) diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp index 5acf0909d21cf..39cb0f247c27f 100644 --- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ndt_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp index b9a6a66590b78..20922e4d46747 100644 --- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp @@ -17,8 +17,8 @@ #include "autoware/localization_util/diagnostics_module.hpp" +#include #include -#include #include #include @@ -42,8 +42,8 @@ class PoseInitializer : public rclcpp::Node private: using ServiceException = component_interface_utils::ServiceException; - using Initialize = localization_interface::Initialize; - using State = localization_interface::InitializationState; + using Initialize = autoware::component_interface_specs::localization::Initialize; + using State = autoware::component_interface_specs::localization::InitializationState; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; rclcpp::CallbackGroup::SharedPtr group_srv_; diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index feb7483f37811..7abfd119ae412 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -17,7 +17,7 @@ #include "rclcpp/rclcpp.hpp" -#include +#include #include #include @@ -34,7 +34,7 @@ class MapProjectionLoader : public rclcpp::Node explicit MapProjectionLoader(const rclcpp::NodeOptions & options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; component_interface_utils::Publisher::SharedPtr publisher_; }; } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index ca25cbf728d26..d58d4191300a3 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -16,8 +16,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_lanelet2_extension - component_interface_specs component_interface_utils rclcpp rclcpp_components diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index e38d65201ee56..8f182e13ca346 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -15,8 +15,8 @@ #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#include #include -#include #include #include @@ -44,7 +44,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node const rclcpp::Time & now); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index b8f92504a8b99..6ab72f3d5f95b 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -19,10 +19,10 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils autoware_lanelet2_extension autoware_map_msgs - component_interface_specs component_interface_utils fmt geometry_msgs diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp index 52c60a612d1bd..f26f9c8eb6dde 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp @@ -30,7 +30,7 @@ << std::endl; \ } -#include +#include #include #include diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index f2aa5513ee81a..898c78391fb72 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_test_utils autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index e551aedab8cf5..0f3437a2a8881 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -14,7 +14,7 @@ #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ -#include +#include #include #include @@ -47,7 +47,7 @@ class GNSSPoser : public rclcpp::Node explicit GNSSPoser(const rclcpp::NodeOptions & node_options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr); diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 7d7fb27777fed..6565148df73cd 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -19,9 +19,9 @@ libboost-dev + autoware_component_interface_specs autoware_geography_utils autoware_sensing_msgs - component_interface_specs component_interface_utils geographic_msgs geographiclib diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 5c6e10a73fa9c..4c9664912db40 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -15,13 +15,13 @@ autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs + autoware_component_interface_specs autoware_geography_utils autoware_motion_utils autoware_planning_msgs autoware_system_msgs autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_graph_utils geographic_msgs diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 268fc6d4d95e4..7b42b97205672 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -15,8 +15,8 @@ #ifndef FAIL_SAFE_HPP_ #define FAIL_SAFE_HPP_ +#include #include -#include #include #include @@ -34,7 +34,7 @@ class FailSafeNode : public rclcpp::Node private: using MrmState = autoware_ad_api::fail_safe::MrmState::Message; Pub pub_mrm_state_; - Sub sub_mrm_state_; + Sub sub_mrm_state_; MrmState prev_state_; void on_state(const MrmState::ConstSharedPtr msg); }; diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp index d9104f393f712..dbbc106621156 100644 --- a/system/autoware_default_adapi/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_HPP_ #define LOCALIZATION_HPP_ +#include #include -#include #include // This file should be included after messages. @@ -34,8 +34,8 @@ class LocalizationNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_initialize_; Pub pub_state_; - Cli cli_initialize_; - Sub sub_state_; + Cli cli_initialize_; + Sub sub_state_; void on_initialize( const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index 87d4df371abb7..2073b1dad9f77 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -121,7 +121,8 @@ void MotionNode::update_pause(const State state) void MotionNode::change_pause(bool pause) { if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->pause = pause; is_calling_set_pause_ = true; cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; }); @@ -133,14 +134,15 @@ void MotionNode::on_timer() update_state(); } -void MotionNode::on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg) +void MotionNode::on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg) { is_paused_ = msg->data; update_state(); } void MotionNode::on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg) { is_start_requested_ = msg->data; update_state(); diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index 043eb6568e141..3854753a39cc7 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -15,9 +15,9 @@ #ifndef MOTION_HPP_ #define MOTION_HPP_ +#include #include #include -#include #include #include #include @@ -39,9 +39,9 @@ class MotionNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_accept_; Pub pub_state_; - Cli cli_set_pause_; - Sub sub_is_paused_; - Sub sub_is_start_requested_; + Cli cli_set_pause_; + Sub sub_is_paused_; + Sub sub_is_start_requested_; enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving }; State state_; @@ -57,9 +57,11 @@ class MotionNode : public rclcpp::Node void update_pause(const State state); void change_pause(bool pause); void on_timer(); - void on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg); + void on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg); void on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg); + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr + msg); void on_accept( const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req, const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index 3b139ad875b8d..c76cd5f92cdf0 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -15,8 +15,8 @@ #ifndef OPERATION_MODE_HPP_ #define OPERATION_MODE_HPP_ +#include #include -#include #include #include @@ -45,8 +45,10 @@ class OperationModeNode : public rclcpp::Node using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous; using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal; using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; - using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; + using AutowareControlRequest = + autoware::component_interface_specs::system::ChangeAutowareControl::Service::Request; using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability; OperationModeState::Message curr_state_; @@ -62,9 +64,9 @@ class OperationModeNode : public rclcpp::Node Srv srv_remote_mode_; Srv srv_enable_control_; Srv srv_disable_control_; - Sub sub_state_; - Cli cli_mode_; - Cli cli_control_; + Sub sub_state_; + Cli cli_mode_; + Cli cli_control_; rclcpp::Subscription::SharedPtr sub_availability_; void on_change_to_stop( diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index c92bac2f5f139..2b4eaae0e2afb 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -50,7 +50,8 @@ uint8_t PerceptionNode::mapping( } void PerceptionNode::object_recognize( - const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr + msg) { DynamicObjectArray::Message objects; objects.header = msg->header; diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp index 4eb83c57293ba..af551d874663b 100644 --- a/system/autoware_default_adapi/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_HPP_ #define PERCEPTION_HPP_ +#include #include -#include #include #include @@ -41,8 +41,9 @@ class PerceptionNode : public rclcpp::Node private: Pub pub_object_recognized_; - Sub sub_object_recognized_; - void object_recognize(const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg); + Sub sub_object_recognized_; + void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition:: + Message::ConstSharedPtr msg); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); }; diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp index f67de9f7b9221..50e044bec018c 100644 --- a/system/autoware_default_adapi/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -15,10 +15,10 @@ #ifndef PLANNING_HPP_ #define PLANNING_HPP_ +#include +#include #include #include -#include -#include #include #include @@ -40,8 +40,8 @@ class PlanningNode : public rclcpp::Node using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray; Pub pub_velocity_factors_; Pub pub_steering_factors_; - Sub sub_trajectory_; - Sub sub_kinematic_state_; + Sub sub_trajectory_; + Sub sub_kinematic_state_; std::vector::SharedPtr> sub_velocity_factors_; std::vector::SharedPtr> sub_steering_factors_; std::vector velocity_factors_; @@ -49,8 +49,8 @@ class PlanningNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase; - using Trajectory = planning_interface::Trajectory::Message; - using KinematicState = localization_interface::KinematicState::Message; + using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message; + using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message; void on_trajectory(const Trajectory::ConstSharedPtr msg); void on_kinematic_state(const KinematicState::ConstSharedPtr msg); void on_timer(); diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index 767cfc37d3f25..bdb745b0e0dac 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -74,7 +74,8 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", void RoutingNode::change_stop_mode() { - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; if (is_auto_mode_) { const auto req = std::make_shared(); req->mode = OperationModeRequest::STOP; diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index 9033373c3a064..b78237697dcf0 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -15,9 +15,9 @@ #ifndef ROUTING_HPP_ #define ROUTING_HPP_ +#include +#include #include -#include -#include #include #include @@ -33,9 +33,9 @@ class RoutingNode : public rclcpp::Node explicit RoutingNode(const rclcpp::NodeOptions & options); private: - using OperationModeState = system_interface::OperationModeState; - using State = planning_interface::RouteState; - using Route = planning_interface::LaneletRoute; + using OperationModeState = autoware::component_interface_specs::system::OperationModeState; + using State = autoware::component_interface_specs::planning::RouteState; + using Route = autoware::component_interface_specs::planning::LaneletRoute; rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_state_; @@ -45,13 +45,13 @@ class RoutingNode : public rclcpp::Node Srv srv_change_route_points_; Srv srv_change_route_; Srv srv_clear_route_; - Sub sub_state_; - Sub sub_route_; - Cli cli_set_waypoint_route_; - Cli cli_set_lanelet_route_; - Cli cli_clear_route_; - Cli cli_operation_mode_; - Sub sub_operation_mode_; + Sub sub_state_; + Sub sub_route_; + Cli cli_set_waypoint_route_; + Cli cli_set_lanelet_route_; + Cli cli_clear_route_; + Cli cli_operation_mode_; + Sub sub_operation_mode_; bool is_auto_mode_; State::Message state_; diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 5421f382795ef..a38bf9cb9a9b3 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -24,13 +24,14 @@ namespace autoware::default_adapi { -using GearReport = vehicle_interface::GearStatus::Message; +using GearReport = autoware::component_interface_specs::vehicle::GearStatus::Message; using ApiGear = autoware_adapi_v1_msgs::msg::Gear; -using TurnIndicatorsReport = vehicle_interface::TurnIndicatorStatus::Message; +using TurnIndicatorsReport = + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message; using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators; -using HazardLightsReport = vehicle_interface::HazardLightStatus::Message; +using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message; using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights; -using MapProjectorInfo = map_interface::MapProjectorInfo::Message; +using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message; std::unordered_map gear_type_ = { {GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL}, @@ -89,19 +90,22 @@ uint8_t VehicleNode::mapping( } void VehicleNode::kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr) { kinematic_state_msgs_ = msg_ptr; } void VehicleNode::acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr) { acceleration_msgs_ = msg_ptr; } void VehicleNode::steering_status( - const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr) { steering_status_msgs_ = msg_ptr; } @@ -122,7 +126,7 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m } void VehicleNode::energy_status( - const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr) { energy_status_msgs_ = msg_ptr; } diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp index 5e3818340b819..ad03aac9116ea 100644 --- a/system/autoware_default_adapi/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -15,10 +15,10 @@ #ifndef VEHICLE_HPP_ #define VEHICLE_HPP_ +#include +#include +#include #include -#include -#include -#include #include #include @@ -42,37 +42,57 @@ class VehicleNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_kinematics_; Pub pub_status_; - Sub sub_kinematic_state_; - Sub sub_acceleration_; - Sub sub_steering_; - Sub sub_gear_state_; - Sub sub_turn_indicator_; - Sub sub_hazard_light_; - Sub sub_energy_level_; - Sub sub_map_projector_info_; + Sub sub_kinematic_state_; + Sub sub_acceleration_; + Sub sub_steering_; + Sub sub_gear_state_; + Sub sub_turn_indicator_; + Sub sub_hazard_light_; + Sub sub_energy_level_; + Sub sub_map_projector_info_; rclcpp::TimerBase::SharedPtr timer_; - localization_interface::KinematicState::Message::ConstSharedPtr kinematic_state_msgs_; - localization_interface::Acceleration::Message::ConstSharedPtr acceleration_msgs_; - vehicle_interface::SteeringStatus::Message::ConstSharedPtr steering_status_msgs_; - vehicle_interface::GearStatus::Message::ConstSharedPtr gear_status_msgs_; - vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr turn_indicator_status_msgs_; - vehicle_interface::HazardLightStatus::Message::ConstSharedPtr hazard_light_status_msgs_; - vehicle_interface::EnergyStatus::Message::ConstSharedPtr energy_status_msgs_; - map_interface::MapProjectorInfo::Message::ConstSharedPtr map_projector_info_; + autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + kinematic_state_msgs_; + autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + acceleration_msgs_; + autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + steering_status_msgs_; + autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + gear_status_msgs_; + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + turn_indicator_status_msgs_; + autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + hazard_light_status_msgs_; + autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + energy_status_msgs_; + autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + map_projector_info_; void kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr); void acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr); - void steering_status(const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr); - void gear_status(const vehicle_interface::GearStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr); + void steering_status( + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr); + void gear_status( + const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + msg_ptr); void turn_indicator_status( - const vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr); - void map_projector_info(const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + msg_ptr); + void map_projector_info( + const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + msg_ptr); void hazard_light_status( - const vehicle_interface::HazardLightStatus::Message::ConstSharedPtr msg_ptr); - void energy_status(const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + msg_ptr); + void energy_status( + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + msg_ptr); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); void publish_kinematics(); diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp index e897bc37eff42..259ef907097de 100644 --- a/system/autoware_default_adapi/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -30,10 +30,12 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status); } -void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg) +void VehicleDoorNode::on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg) { utils::notify( - pub_status_, status_, *msg, utils::ignore_stamp); + pub_status_, status_, *msg, + utils::ignore_stamp); } } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp index 8f6c2da83247d..9b04b08adb438 100644 --- a/system/autoware_default_adapi/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -15,8 +15,8 @@ #ifndef VEHICLE_DOOR_HPP_ #define VEHICLE_DOOR_HPP_ +#include #include -#include #include #include @@ -33,15 +33,16 @@ class VehicleDoorNode : public rclcpp::Node explicit VehicleDoorNode(const rclcpp::NodeOptions & options); private: - void on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg); + void on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_command_; Srv srv_layout_; Pub pub_status_; - Cli cli_command_; - Cli cli_layout_; - Sub sub_status_; - std::optional status_; + Cli cli_command_; + Cli cli_layout_; + Sub sub_status_; + std::optional status_; }; } // namespace autoware::default_adapi