refactor(costmap_generator)!: add autoware prefix (#7329)

refactor(costmap_generator): add autoware prefix

Signed-off-by: kosuke55 <[email protected]>

.github/CODEOWNERS

@@ -153,6 +153,7 @@ planning/autoware_behavior_velocity_run_out_module/** [email protected] m
 planning/autoware_behavior_velocity_template_module/** [email protected]
 planning/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
+planning/autoware_costmap_generator/** [email protected] [email protected] [email protected]
 planning/autoware_external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_path_optimizer/** [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
@@ -183,7 +184,6 @@ planning/autoware_behavior_velocity_run_out_module/** [email protected] m
 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/costmap_generator/** [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]

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

@@ -4,7 +4,7 @@
     <push-ros-namespace namespace="parking"/>
 
     <node_container pkg="rclcpp_components" exec="$(var container_type)" name="parking_container" namespace="" output="screen">
-      <composable_node pkg="costmap_generator" plugin="CostmapGenerator" name="costmap_generator" namespace="">
+      <composable_node pkg="autoware_costmap_generator" plugin="autoware::costmap_generator::CostmapGenerator" name="costmap_generator" namespace="">
         <!-- topic remap -->
         <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
         <remap from="~/input/points_no_ground" to="/perception/obstacle_segmentation/pointcloud"/>

launch/tier4_planning_launch/package.xml

@@ -58,6 +58,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_behavior_velocity_planner</exec_depend>
+  <exec_depend>autoware_costmap_generator</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>
@@ -66,7 +67,6 @@
   <exec_depend>autoware_surround_obstacle_checker</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>freespace_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>

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`
 
 <img src="https://user-images.githubusercontent.com/39142679/270964106-ae688bca-1709-4e06-98c4-90f671bb8246.png" width="600">
 

planning/costmap_generator/CMakeLists.txt → 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
   ${PCL_LIBRARIES}
@@ -33,15 +33,15 @@ if(${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}
   costmap_generator_lib
 )
 
 rclcpp_components_register_node(costmap_generator_node
-  PLUGIN "CostmapGenerator"
+  PLUGIN "autoware::costmap_generator::CostmapGenerator"
   EXECUTABLE costmap_generator
 )
 

planning/costmap_generator/include/costmap_generator/costmap_generator.hpp → 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 <grid_map_ros/GridMapRosConverter.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
@@ -72,6 +72,8 @@
 #include <string>
 #include <vector>
 
+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_

planning/costmap_generator/include/costmap_generator/object_map_utils.hpp → 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 <grid_map_cv/grid_map_cv.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
@@ -98,4 +98,4 @@ void FillPolygonAreas(
 
 }  // namespace object_map
 
-#endif  // COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_
+#endif  // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_

planning/costmap_generator/include/costmap_generator/objects_to_costmap.hpp → 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 <grid_map_ros/grid_map_ros.hpp>
 
@@ -57,6 +57,8 @@
 
 #include <string>
 
+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_

planning/costmap_generator/include/costmap_generator/points_to_costmap.hpp → 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 <grid_map_ros/grid_map_ros.hpp>
 
@@ -52,6 +52,9 @@
 #include <string>
 #include <vector>
 
+namespace autoware::costmap_generator
+
+{
 class PointsToCostmap
 {
 public:
@@ -115,5 +118,6 @@ class PointsToCostmap
     const std::string & gridmap_layer_name,
     const std::vector<std::vector<std::vector<double>>> grid_vec);
 };
+}  // namespace autoware::costmap_generator
 
-#endif  // COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_
+#endif  // AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_

planning/costmap_generator/launch/costmap_generator.launch.xml → planning/autoware_costmap_generator/launch/costmap_generator.launch.xml

@@ -6,9 +6,9 @@
   <arg name="output_grid_map" default="~/output/grid_map"/>
   <arg name="output_occupancy_grid" default="~/output/occupancy_grid"/>
 
-  <arg name="costmap_generator_param_file" default="$(find-pkg-share costmap_generator)/config/costmap_generator.param.yaml"/>
+  <arg name="costmap_generator_param_file" default="$(find-pkg-share autoware_costmap_generator)/config/costmap_generator.param.yaml"/>
 
-  <node pkg="costmap_generator" exec="costmap_generator" name="costmap_generator" output="screen">
+  <node pkg="autoware_costmap_generator" exec="costmap_generator" name="costmap_generator" output="screen">
     <remap from="~/input/objects" to="$(var input_objects)"/>
     <remap from="~/input/points_no_ground" to="$(var input_points_no_ground)"/>
     <remap from="~/input/vector_map" to="$(var input_lanelet_map)"/>

planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp → 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 <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -157,6 +157,8 @@ pcl::PointCloud<pcl::PointXYZ> 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_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(CostmapGenerator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::costmap_generator::CostmapGenerator)

planning/costmap_generator/nodes/costmap_generator/object_map_utils.cpp → 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 <string>
 #include <vector>

planning/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp → 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 <tf2/utils.h>
 
 #include <cmath>
 #include <string>
 
+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

planning/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp → 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 <string>
 #include <vector>
 
+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

planning/costmap_generator/package.xml → planning/autoware_costmap_generator/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>costmap_generator</name>
+  <name>autoware_costmap_generator</name>
   <version>0.1.0</version>
-  <description>The costmap_generator package</description>
+  <description>The autoware_costmap_generator package</description>
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>

planning/costmap_generator/test/test_objects_to_costmap.cpp → 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 <costmap_generator/objects_to_costmap.hpp>
+#include <autoware_costmap_generator/objects_to_costmap.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <gtest/gtest.h>
 
+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

planning/costmap_generator/test/test_points_to_costmap.cpp → 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 <costmap_generator/points_to_costmap.hpp>
+#include <autoware_costmap_generator/points_to_costmap.hpp>
 
 #include <gtest/gtest.h>
+
+namespace autoware::costmap_generator
+{
 using pointcloud = pcl::PointCloud<pcl::PointXYZ>;
 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