Merge branch 'main' into ci/fix_cppcheck_all

.github/CODEOWNERS

@@ -171,13 +171,13 @@ planning/behavior_velocity_no_stopping_area_module/** [email protected] s
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]
-planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/freespace_planner/** [email protected] [email protected] [email protected]
 planning/freespace_planning_algorithms/** [email protected] [email protected] [email protected]
 planning/mission_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -189,7 +189,7 @@ planning/obstacle_stop_planner/** [email protected] [email protected] satoshi.ota
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected] [email protected] [email protected]
-planning/planning_topic_converter/** [email protected] [email protected] [email protected]
+planning/autoware_planning_topic_converter/** [email protected] [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/rtc_interface/** [email protected] [email protected] [email protected] [email protected]

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -156,7 +156,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
     if="$(var launch_run_out_module)"
   />
   <let

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -98,7 +98,7 @@
 
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'none'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
+        <composable_node pkg="autoware_planning_topic_converter" plugin="autoware::planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
           <!-- params -->
           <param name="input_topic" value="path_smoother/path"/>
           <param name="output_topic" value="path_optimizer/trajectory"/>

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -19,7 +19,7 @@
   <group>
     <!-- external velocity limit selector -->
     <group>
-      <include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
+      <include file="$(find-pkg-share autoware_external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
         <arg name="common_param_path" value="$(var common_param_path)"/>
         <arg name="param_path" value="$(var velocity_smoother_param_path)"/>
       </include>

launch/tier4_planning_launch/package.xml

@@ -58,20 +58,20 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_behavior_velocity_planner</exec_depend>
+  <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
+  <exec_depend>autoware_planning_topic_converter</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
-  <exec_depend>external_velocity_limit_selector</exec_depend>
   <exec_depend>freespace_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>mission_planner</exec_depend>
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
-  <exec_depend>planning_topic_converter</exec_depend>
   <exec_depend>planning_validator</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
   <exec_depend>surround_obstacle_checker</exec_depend>

localization/stop_filter/include/stop_filter/stop_filter.hpp

@@ -52,6 +52,6 @@ class StopFilter : public rclcpp::Node
   /**
    * @brief set odometry measurement
    */
-  void callbackOdometry(const nav_msgs::msg::Odometry::SharedPtr msg);
+  void callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg);
 };
 #endif  // STOP_FILTER__STOP_FILTER_HPP_

localization/stop_filter/src/stop_filter.cpp

@@ -31,13 +31,13 @@ StopFilter::StopFilter(const rclcpp::NodeOptions & node_options)
   wz_threshold_ = declare_parameter<double>("wz_threshold");
 
   sub_odom_ = create_subscription<nav_msgs::msg::Odometry>(
-    "input/odom", 1, std::bind(&StopFilter::callbackOdometry, this, _1));
+    "input/odom", 1, std::bind(&StopFilter::callback_odometry, this, _1));
 
   pub_odom_ = create_publisher<nav_msgs::msg::Odometry>("output/odom", 1);
   pub_stop_flag_ = create_publisher<tier4_debug_msgs::msg::BoolStamped>("debug/stop_flag", 1);
 }
 
-void StopFilter::callbackOdometry(const nav_msgs::msg::Odometry::SharedPtr msg)
+void StopFilter::callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg)
 {
   tier4_debug_msgs::msg::BoolStamped stop_flag_msg;
   stop_flag_msg.stamp = msg->header.stamp;

planning/.pages

@@ -30,7 +30,7 @@ nav:
         - 'No Stopping Area': planning/behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_occlusion_spot_module
         - 'Out of Lane': planning/behavior_velocity_out_of_lane_module
-        - 'Run Out': planning/behavior_velocity_run_out_module
+        - 'Run Out': planning/autoware_behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module
@@ -74,7 +74,7 @@ nav:
   - 'Static Centerline Generator': planning/autoware_static_centerline_generator
   - 'API and Library':
     - 'Costmap Generator': planning/costmap_generator
-    - 'External Velocity Limit Selector': planning/external_velocity_limit_selector
+    - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector
     - 'Objects of Interest Marker Interface': planning/objects_of_interest_marker_interface
     - 'Route Handler': planning/route_handler
     - 'RTC Interface': planning/rtc_interface
@@ -86,5 +86,5 @@ nav:
       - 'Stop Reason Visualizer': https://github.com/autowarefoundation/autoware_tools/blob/main/planning/planning_debug_tools/doc-stop-reason-visualizer.md
     - 'Planning Test Utils': planning/planning_test_utils
     - 'Planning Test Manager': planning/autoware_planning_test_manager
-    - 'Planning Topic Converter': planning/planning_topic_converter
+    - 'Planning Topic Converter': planning/autoware_planning_topic_converter
     - 'Planning Validator': planning/planning_validator

planning/autoware_behavior_velocity_planner/README.md

@@ -18,7 +18,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
 - [Occlusion Spot](../behavior_velocity_occlusion_spot_module/README.md)
 - [No Stopping Area](../behavior_velocity_no_stopping_area_module/README.md)
-- [Run Out](../behavior_velocity_run_out_module/README.md)
+- [Run Out](../autoware_behavior_velocity_run_out_module/README.md)
 - [Speed Bump](../behavior_velocity_speed_bump_module/README.md)
 - [Out of Lane](../behavior_velocity_out_of_lane_module/README.md)
 

planning/autoware_behavior_velocity_planner/package.xml

@@ -65,6 +65,7 @@
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
   <test_depend>autoware_behavior_velocity_virtual_traffic_light_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_velocity_blind_spot_module</test_depend>
@@ -75,7 +76,6 @@
   <test_depend>behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>behavior_velocity_occlusion_spot_module</test_depend>
   <test_depend>behavior_velocity_out_of_lane_module</test_depend>
-  <test_depend>behavior_velocity_run_out_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -79,7 +79,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::RunOutModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin");
@@ -103,7 +103,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config_no_prefix("intersection"),
                    get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
                    get_behavior_velocity_module_config_no_prefix("occlusion_spot"),
-                   get_behavior_velocity_module_config_no_prefix("run_out"),
+                   get_behavior_velocity_module_config("run_out"),
                    get_behavior_velocity_module_config_no_prefix("speed_bump"),
                    get_behavior_velocity_module_config_no_prefix("stop_line"),
                    get_behavior_velocity_module_config_no_prefix("traffic_light"),

planning/behavior_velocity_run_out_module/CMakeLists.txt → planning/autoware_behavior_velocity_run_out_module/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_run_out_module)
+project(autoware_behavior_velocity_run_out_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

planning/behavior_velocity_run_out_module/package.xml → planning/autoware_behavior_velocity_run_out_module/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_velocity_run_out_module</name>
+  <name>autoware_behavior_velocity_run_out_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_run_out_module package</description>
+  <description>The autoware_behavior_velocity_run_out_module package</description>
 
   <maintainer email="[email protected]">Tomohito Ando</maintainer>
   <maintainer email="[email protected]">Makoto Kurihara</maintainer>

planning/autoware_behavior_velocity_run_out_module/plugins.xml

@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_run_out_module">
+  <class type="autoware::behavior_velocity_planner::RunOutModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>

planning/behavior_velocity_run_out_module/src/debug.cpp → planning/autoware_behavior_velocity_run_out_module/src/debug.cpp

@@ -28,7 +28,7 @@ using tier4_autoware_utils::createMarkerOrientation;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -368,4 +368,4 @@ motion_utils::VirtualWalls RunOutModule::createVirtualWalls()
   return debug_ptr_->createVirtualWalls();
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/debug.hpp → planning/autoware_behavior_velocity_run_out_module/src/debug.hpp

@@ -24,8 +24,9 @@
 #include <memory>
 #include <string>
 #include <vector>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::Polygon2d;
 using sensor_msgs::msg::PointCloud2;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Int32Stamped;
@@ -149,6 +150,6 @@ class RunOutDebug
   double height_{0};
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DEBUG_HPP_

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.cpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp

@@ -30,8 +30,10 @@
 #include <limits>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::Point2d;
+using ::behavior_velocity_planner::splineInterpolate;
 namespace
 {
 // create quaternion facing to the nearest trajectory point
@@ -600,4 +602,4 @@ void DynamicObstacleCreatorForPoints::onSynchronizedPointCloud(
   std::lock_guard<std::mutex> lock(mutex_);
   obstacle_points_map_filtered_ = lateral_nearest_points;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.hpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp

@@ -42,11 +42,12 @@
 #include <memory>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::Shape;
+using ::behavior_velocity_planner::PlannerData;
 using run_out_utils::DynamicObstacle;
 using run_out_utils::DynamicObstacleData;
 using run_out_utils::DynamicObstacleParam;
@@ -55,6 +56,7 @@ using run_out_utils::PredictedPath;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using PathPointsWithLaneId = std::vector<tier4_planning_msgs::msg::PathPointWithLaneId>;
+using ::behavior_velocity_planner::Polygons2d;
 
 /**
  * @brief base class for creating dynamic obstacles from multiple types of input
@@ -171,6 +173,6 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator
   pcl::PointCloud<pcl::PointXYZ> obstacle_points_map_filtered_;
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DYNAMIC_OBSTACLE_HPP_

planning/behavior_velocity_run_out_module/src/manager.cpp → planning/autoware_behavior_velocity_run_out_module/src/manager.cpp

@@ -20,10 +20,10 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 using tier4_autoware_utils::getOrDeclareParameter;
-
 RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
@@ -198,8 +198,9 @@ void RunOutModuleManager::setDynamicObstacleCreator(
       break;
   }
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::RunOutModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::RunOutModulePlugin,
+  behavior_velocity_planner::PluginInterface)

planning/behavior_velocity_run_out_module/src/manager.hpp → planning/autoware_behavior_velocity_run_out_module/src/manager.hpp

@@ -23,8 +23,11 @@
 
 #include <memory>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PluginWrapper;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 class RunOutModuleManager : public SceneModuleManagerInterface
 {
 public:
@@ -49,6 +52,6 @@ class RunOutModulePlugin : public PluginWrapper<RunOutModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_

planning/behavior_velocity_run_out_module/src/path_utils.cpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.cpp

@@ -15,7 +15,7 @@
 #include "path_utils.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
-namespace behavior_velocity_planner::run_out_utils
+namespace autoware::behavior_velocity_planner::run_out_utils
 {
 geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<tier4_planning_msgs::msg::PathPointWithLaneId> & points,
@@ -36,4 +36,4 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   return min_dist_point;
 }
 
-}  // namespace behavior_velocity_planner::run_out_utils
+}  // namespace autoware::behavior_velocity_planner::run_out_utils

planning/behavior_velocity_run_out_module/src/path_utils.hpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.hpp

@@ -25,7 +25,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -36,5 +36,5 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<geometry_msgs::msg::Point> & target_points);
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 #endif  // PATH_UTILS_HPP_

planning/behavior_velocity_run_out_module/src/scene.cpp → planning/autoware_behavior_velocity_run_out_module/src/scene.cpp

@@ -34,10 +34,14 @@
 #include <limits>
 #include <utility>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using ::behavior_velocity_planner::PlanningBehavior;
 using object_recognition_utils::convertLabelToString;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
+using ::behavior_velocity_planner::getCrosswalksOnPath;
+using ::behavior_velocity_planner::Polygon2d;
 
 RunOutModule::RunOutModule(
   const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
@@ -1031,4 +1035,4 @@ bool RunOutModule::isMomentaryDetection()
 
   return elapsed_time_since_detection < planner_param_.ignore_momentary_detection.time_threshold;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/scene.hpp → planning/autoware_behavior_velocity_run_out_module/src/scene.hpp

@@ -30,7 +30,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_perception_msgs::msg::PredictedObjects;
 using run_out_utils::PlannerParam;
@@ -39,6 +39,11 @@ using tier4_debug_msgs::msg::Float32Stamped;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::Polygon2d;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 
 class RunOutModule : public SceneModuleInterface
 {
@@ -177,6 +182,6 @@ class RunOutModule : public SceneModuleInterface
 
   bool isMomentaryDetection();
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_