From 59a204b5276307da6da9c4064cb0a351ca598249 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 6 Jun 2024 23:45:17 +0900 Subject: [PATCH] refactor(costmap_generator): add autoware prefix Signed-off-by: kosuke55 --- .github/CODEOWNERS | 2 +- .../launch/scenario_planning/parking.launch.xml | 2 +- launch/tier4_planning_launch/package.xml | 2 +- .../README.md | 2 +- .../CMakeLists.txt | 12 ++++++------ .../README.md | 0 .../config/costmap_generator.param.yaml | 0 .../costmap_generator.hpp | 13 ++++++++----- .../object_map_utils.hpp | 6 +++--- .../objects_to_costmap.hpp | 10 ++++++---- .../points_to_costmap.hpp | 10 +++++++--- .../launch/costmap_generator.launch.xml | 4 ++-- .../costmap_generator_node.cpp | 9 ++++++--- .../object_map_utils.cpp | 2 +- .../objects_to_costmap.cpp | 5 ++++- .../points_to_costmap.cpp | 7 ++++++- .../package.xml | 4 ++-- .../schema/costmap_generator.schema.json | 0 .../test/test_objects_to_costmap.cpp | 5 ++++- .../test/test_points_to_costmap.cpp | 6 +++++- 20 files changed, 64 insertions(+), 37 deletions(-) rename planning/{costmap_generator => autoware_costmap_generator}/CMakeLists.txt (80%) rename planning/{costmap_generator => autoware_costmap_generator}/README.md (100%) rename planning/{costmap_generator => autoware_costmap_generator}/config/costmap_generator.param.yaml (100%) rename planning/{costmap_generator/include/costmap_generator => autoware_costmap_generator/include/autoware_costmap_generator}/costmap_generator.hpp (94%) rename planning/{costmap_generator/include/costmap_generator => autoware_costmap_generator/include/autoware_costmap_generator}/object_map_utils.hpp (95%) rename planning/{costmap_generator/include/costmap_generator => autoware_costmap_generator/include/autoware_costmap_generator}/objects_to_costmap.hpp (95%) rename planning/{costmap_generator/include/costmap_generator => autoware_costmap_generator/include/autoware_costmap_generator}/points_to_costmap.hpp (95%) rename planning/{costmap_generator => autoware_costmap_generator}/launch/costmap_generator.launch.xml (84%) rename planning/{costmap_generator/nodes/costmap_generator => autoware_costmap_generator/nodes/autoware_costmap_generator}/costmap_generator_node.cpp (98%) rename planning/{costmap_generator/nodes/costmap_generator => autoware_costmap_generator/nodes/autoware_costmap_generator}/object_map_utils.cpp (98%) rename planning/{costmap_generator/nodes/costmap_generator => autoware_costmap_generator/nodes/autoware_costmap_generator}/objects_to_costmap.cpp (98%) rename planning/{costmap_generator/nodes/costmap_generator => autoware_costmap_generator/nodes/autoware_costmap_generator}/points_to_costmap.cpp (97%) rename planning/{costmap_generator => autoware_costmap_generator}/package.xml (92%) rename planning/{costmap_generator => autoware_costmap_generator}/schema/costmap_generator.schema.json (100%) rename planning/{costmap_generator => autoware_costmap_generator}/test/test_objects_to_costmap.cpp (97%) rename planning/{costmap_generator => autoware_costmap_generator}/test/test_points_to_costmap.cpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7a0c8f8893a39..2eefee5606ab2 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -153,6 +153,7 @@ planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp m planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp @@ -183,7 +184,6 @@ planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp m planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml index 98315919b540a..db5a9a0093e7c 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 0a585bce673b6..e5def4c7aed0c 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -58,6 +58,7 @@ autoware_cmake autoware_behavior_velocity_planner + autoware_costmap_generator autoware_external_velocity_limit_selector autoware_path_optimizer autoware_planning_topic_converter @@ -66,7 +67,6 @@ autoware_surround_obstacle_checker autoware_velocity_smoother behavior_path_planner - costmap_generator external_cmd_selector freespace_planner glog_component diff --git a/planning/autoware_behavior_path_start_planner_module/README.md b/planning/autoware_behavior_path_start_planner_module/README.md index 71aa0a1abe704..bcb3b1bec1fd9 100644 --- a/planning/autoware_behavior_path_start_planner_module/README.md +++ b/planning/autoware_behavior_path_start_planner_module/README.md @@ -526,7 +526,7 @@ If a safe path cannot be generated from the current position, search backwards f ### **freespace pull out** If the vehicle gets stuck with pull out along lanes, execute freespace pull out. -To run this feature, you need to set `parking_lot` to the map, `activate_by_scenario` of [costmap_generator](../costmap_generator/README.md) to `false` and `enable_freespace_planner` to `true` +To run this feature, you need to set `parking_lot` to the map, `activate_by_scenario` of [costmap_generator](../autoware_costmap_generator/README.md) to `false` and `enable_freespace_planner` to `true` diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/autoware_costmap_generator/CMakeLists.txt similarity index 80% rename from planning/costmap_generator/CMakeLists.txt rename to planning/autoware_costmap_generator/CMakeLists.txt index 620a997990001..b8b15a7312324 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/autoware_costmap_generator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(costmap_generator) +project(autoware_costmap_generator) find_package(autoware_cmake REQUIRED) autoware_package() @@ -16,9 +16,9 @@ include_directories( ) ament_auto_add_library(costmap_generator_lib SHARED - nodes/costmap_generator/points_to_costmap.cpp - nodes/costmap_generator/objects_to_costmap.cpp - nodes/costmap_generator/object_map_utils.cpp + nodes/autoware_costmap_generator/points_to_costmap.cpp + nodes/autoware_costmap_generator/objects_to_costmap.cpp + nodes/autoware_costmap_generator/object_map_utils.cpp ) target_link_libraries(costmap_generator_lib ${PCL_LIBRARIES} @@ -33,7 +33,7 @@ if(${PCL_VERSION} GREATER_EQUAL 1.12.1) endif() ament_auto_add_library(costmap_generator_node SHARED - nodes/costmap_generator/costmap_generator_node.cpp + nodes/autoware_costmap_generator/costmap_generator_node.cpp ) target_link_libraries(costmap_generator_node ${PCL_LIBRARIES} @@ -41,7 +41,7 @@ target_link_libraries(costmap_generator_node ) rclcpp_components_register_node(costmap_generator_node - PLUGIN "CostmapGenerator" + PLUGIN "autoware::costmap_generator::CostmapGenerator" EXECUTABLE costmap_generator ) diff --git a/planning/costmap_generator/README.md b/planning/autoware_costmap_generator/README.md similarity index 100% rename from planning/costmap_generator/README.md rename to planning/autoware_costmap_generator/README.md diff --git a/planning/costmap_generator/config/costmap_generator.param.yaml b/planning/autoware_costmap_generator/config/costmap_generator.param.yaml similarity index 100% rename from planning/costmap_generator/config/costmap_generator.param.yaml rename to planning/autoware_costmap_generator/config/costmap_generator.param.yaml diff --git a/planning/costmap_generator/include/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp similarity index 94% rename from planning/costmap_generator/include/costmap_generator/costmap_generator.hpp rename to planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp index 31c8a05cc3c60..093c88541e9c8 100644 --- a/planning/costmap_generator/include/costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp @@ -42,11 +42,11 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#define COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#ifndef AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#define AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#include "costmap_generator/objects_to_costmap.hpp" -#include "costmap_generator/points_to_costmap.hpp" +#include "autoware_costmap_generator/objects_to_costmap.hpp" +#include "autoware_costmap_generator/points_to_costmap.hpp" #include #include @@ -72,6 +72,8 @@ #include #include +namespace autoware::costmap_generator +{ class CostmapGenerator : public rclcpp::Node { public: @@ -197,5 +199,6 @@ class CostmapGenerator : public rclcpp::Node /// \brief calculate cost for final output grid_map::Matrix generateCombinedCostmap(); }; +} // namespace autoware::costmap_generator -#endif // COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#endif // AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ diff --git a/planning/costmap_generator/include/costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp similarity index 95% rename from planning/costmap_generator/include/costmap_generator/object_map_utils.hpp rename to planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp index 282bd6dcc1beb..f4911cc428d36 100644 --- a/planning/costmap_generator/include/costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp @@ -30,8 +30,8 @@ * */ -#ifndef COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ -#define COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#define AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ #include #include @@ -98,4 +98,4 @@ void FillPolygonAreas( } // namespace object_map -#endif // COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ diff --git a/planning/costmap_generator/include/costmap_generator/objects_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp similarity index 95% rename from planning/costmap_generator/include/costmap_generator/objects_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp index a88bb97a623e2..aa11a98830dc3 100644 --- a/planning/costmap_generator/include/costmap_generator/objects_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ -#define COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#define AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ #include @@ -57,6 +57,8 @@ #include +namespace autoware::costmap_generator +{ class ObjectsToCostmap { public: @@ -123,5 +125,5 @@ class ObjectsToCostmap const grid_map::Polygon & polygon, const std::string & gridmap_layer_name, const float score, grid_map::GridMap & objects_costmap); }; - -#endif // COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +} // namespace autoware::costmap_generator +#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ diff --git a/planning/costmap_generator/include/costmap_generator/points_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp similarity index 95% rename from planning/costmap_generator/include/costmap_generator/points_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp index 3b179d63f1d2a..0e3abbd69ec20 100644 --- a/planning/costmap_generator/include/costmap_generator/points_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ -#define COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#define AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ #include @@ -52,6 +52,9 @@ #include #include +namespace autoware::costmap_generator + +{ class PointsToCostmap { public: @@ -115,5 +118,6 @@ class PointsToCostmap const std::string & gridmap_layer_name, const std::vector>> grid_vec); }; +} // namespace autoware::costmap_generator -#endif // COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#endif // AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ diff --git a/planning/costmap_generator/launch/costmap_generator.launch.xml b/planning/autoware_costmap_generator/launch/costmap_generator.launch.xml similarity index 84% rename from planning/costmap_generator/launch/costmap_generator.launch.xml rename to planning/autoware_costmap_generator/launch/costmap_generator.launch.xml index ba8a71f5f428a..e7c378565dd0f 100644 --- a/planning/costmap_generator/launch/costmap_generator.launch.xml +++ b/planning/autoware_costmap_generator/launch/costmap_generator.launch.xml @@ -6,9 +6,9 @@ - + - + diff --git a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp similarity index 98% rename from planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp rename to planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp index 777dfc7a50a6e..4302ac6ada645 100644 --- a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp @@ -42,8 +42,8 @@ * OF private_node SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "costmap_generator/costmap_generator.hpp" -#include "costmap_generator/object_map_utils.hpp" +#include "autoware_costmap_generator/costmap_generator.hpp" +#include "autoware_costmap_generator/object_map_utils.hpp" #include #include @@ -157,6 +157,8 @@ pcl::PointCloud getTransformedPointCloud( } // namespace +namespace autoware::costmap_generator +{ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) : Node("costmap_generator", node_options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { @@ -476,6 +478,7 @@ void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) out_gridmap_msg->header = header; pub_costmap_->publish(*out_gridmap_msg); } +} // namespace autoware::costmap_generator #include -RCLCPP_COMPONENTS_REGISTER_NODE(CostmapGenerator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::costmap_generator::CostmapGenerator) diff --git a/planning/costmap_generator/nodes/costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp similarity index 98% rename from planning/costmap_generator/nodes/costmap_generator/object_map_utils.cpp rename to planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp index 6955798be3e8a..4ce452814008c 100644 --- a/planning/costmap_generator/nodes/costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp @@ -30,7 +30,7 @@ * */ -#include "costmap_generator/object_map_utils.hpp" +#include "autoware_costmap_generator/object_map_utils.hpp" #include #include diff --git a/planning/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp similarity index 98% rename from planning/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp rename to planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp index f6f024fb92a4e..afb2dbb9874c9 100644 --- a/planning/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp @@ -42,13 +42,15 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "costmap_generator/objects_to_costmap.hpp" +#include "autoware_costmap_generator/objects_to_costmap.hpp" #include #include #include +namespace autoware::costmap_generator +{ // Constructor ObjectsToCostmap::ObjectsToCostmap() : NUMBER_OF_POINTS(4), @@ -196,3 +198,4 @@ grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects( return objects_costmap[OBJECTS_COSTMAP_LAYER_]; } +} // namespace autoware::costmap_generator diff --git a/planning/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp similarity index 97% rename from planning/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp rename to planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp index e875f68973a12..723c27201ac8a 100644 --- a/planning/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp @@ -42,11 +42,14 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "costmap_generator/points_to_costmap.hpp" +#include "autoware_costmap_generator/points_to_costmap.hpp" #include #include +namespace autoware::costmap_generator +{ + void PointsToCostmap::initGridmapParam(const grid_map::GridMap & gridmap) { grid_length_x_ = gridmap.getLength().x(); @@ -140,3 +143,5 @@ grid_map::Matrix PointsToCostmap::makeCostmapFromPoints( gridmap_layer_name, grid_vec); return costmap; } + +} // namespace autoware::costmap_generator diff --git a/planning/costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml similarity index 92% rename from planning/costmap_generator/package.xml rename to planning/autoware_costmap_generator/package.xml index dc94d74dce8ae..aa1ae80eaf953 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -1,9 +1,9 @@ - costmap_generator + autoware_costmap_generator 0.1.0 - The costmap_generator package + The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe Takayuki Murooka diff --git a/planning/costmap_generator/schema/costmap_generator.schema.json b/planning/autoware_costmap_generator/schema/costmap_generator.schema.json similarity index 100% rename from planning/costmap_generator/schema/costmap_generator.schema.json rename to planning/autoware_costmap_generator/schema/costmap_generator.schema.json diff --git a/planning/costmap_generator/test/test_objects_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp similarity index 97% rename from planning/costmap_generator/test/test_objects_to_costmap.cpp rename to planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp index 15b853d0782aa..8d437865b8793 100644 --- a/planning/costmap_generator/test/test_objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include +namespace autoware::costmap_generator +{ using LABEL = autoware_perception_msgs::msg::ObjectClassification; class ObjectsToCostMapTest : public ::testing::Test @@ -134,3 +136,4 @@ TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects) } } } +} // namespace autoware::costmap_generator diff --git a/planning/costmap_generator/test/test_points_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp similarity index 98% rename from planning/costmap_generator/test/test_points_to_costmap.cpp rename to planning/autoware_costmap_generator/test/test_points_to_costmap.cpp index 2366dffc7fc6f..6c52e2dc6ce9d 100644 --- a/planning/costmap_generator/test/test_points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp @@ -12,9 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include + +namespace autoware::costmap_generator +{ using pointcloud = pcl::PointCloud; class PointsToCostmapTest : public ::testing::Test { @@ -216,3 +219,4 @@ TEST_F(PointsToCostmapTest, TestMakeCostmapFromPoints_invalidPoints_outOfGrid) EXPECT_EQ(nonempty_grid_cell_num, 0); } +} // namespace autoware::costmap_generator