refactor(planning_validator)!: prefix package and namespace with auto…

…ware (#7320) * add autoware_ prefix to planning_validator Signed-off-by: kyoichi-sugahara <[email protected]> * add prefix to package name in .pages Signed-off-by: kyoichi-sugahara <[email protected]> * fix link of the image --------- Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Jul 22, 2024 · 7843035 · 7843035
1 parent ccf324e
commit 7843035
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Showing 22 changed files with 104 additions and 103 deletions.
diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -32,7 +32,7 @@
 
     <!-- planning validator -->
     <group>
-      <include file="$(find-pkg-share planning_validator)/launch/planning_validator.launch.xml">
+      <include file="$(find-pkg-share autoware_planning_validator)/launch/planning_validator.launch.xml">
         <arg name="input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory"/>
         <arg name="output_trajectory" value="/planning/scenario_planning/trajectory"/>
         <arg name="planning_validator_param_path" value="$(var planning_validator_param_path)"/>

diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
@@ -61,6 +61,7 @@
   <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_planning_validator</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
@@ -73,7 +74,6 @@
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
-  <exec_depend>planning_validator</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/planning/.pages b/planning/.pages
@@ -87,4 +87,4 @@ nav:
     - 'Planning Test Utils': planning/planning_test_utils
     - 'Planning Test Manager': planning/autoware_planning_test_manager
     - 'Planning Topic Converter': planning/autoware_planning_topic_converter
-    - 'Planning Validator': planning/planning_validator
+    - 'Planning Validator': planning/autoware_planning_validator
diff --git a/planning/autoware_planning_test_manager/README.md b/planning/autoware_planning_test_manager/README.md
@@ -41,7 +41,7 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
   node_options.arguments(
     {"--ros-args", "--params-file",
      planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
-     planning_validator_dir + "/config/planning_validator.param.yaml"});
+     autoware_planning_validator_dir + "/config/planning_validator.param.yaml"});
 
   // instantiate the TargetNode with node_options
   auto test_target_node = std::make_shared<TargetNode>(node_options);
@@ -70,18 +70,18 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 
 ## Implemented tests
 
-| Node                      | Test name                                                                                 | exceptional input | output         | Exceptional input pattern                                                             |
-| ------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- |
-| planning_validator        | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| velocity_smoother         | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| obstacle_cruise_planner   | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| obstacle_stop_planner     | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| obstacle_velocity_limiter | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| path_optimizer            | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
-| scenario_selector         | NodeTestWithExceptionTrajectoryLaneDrivingMode NodeTestWithExceptionTrajectoryParkingMode | trajectory        | scenario       | Empty, single point, path with duplicate points for scenarios:LANEDRIVING and PARKING |
-| freespace_planner         | NodeTestWithExceptionRoute                                                                | route             | trajectory     | Empty route                                                                           |
-| behavior_path_planner     | NodeTestWithExceptionRoute NodeTestWithOffTrackEgoPose                                    | route             | route odometry | Empty route Off-lane ego-position                                                     |
-| behavior_velocity_planner | NodeTestWithExceptionPathWithLaneID                                                       | path_with_lane_id | path           | Empty path                                                                            |
+| Node                        | Test name                                                                                 | exceptional input | output         | Exceptional input pattern                                                             |
+| --------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- |
+| autoware_planning_validator | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| velocity_smoother           | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_cruise_planner     | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_stop_planner       | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_velocity_limiter   | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| path_optimizer              | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| scenario_selector           | NodeTestWithExceptionTrajectoryLaneDrivingMode NodeTestWithExceptionTrajectoryParkingMode | trajectory        | scenario       | Empty, single point, path with duplicate points for scenarios:LANEDRIVING and PARKING |
+| freespace_planner           | NodeTestWithExceptionRoute                                                                | route             | trajectory     | Empty route                                                                           |
+| behavior_path_planner       | NodeTestWithExceptionRoute NodeTestWithOffTrackEgoPose                                    | route             | route odometry | Empty route Off-lane ego-position                                                     |
+| behavior_velocity_planner   | NodeTestWithExceptionPathWithLaneID                                                       | path_with_lane_id | path           | Empty path                                                                            |
 
 ## Important Notes
 

diff --git a/planning/planning_validator/CMakeLists.txt b/planning/planning_validator/CMakeLists.txt
@@ -1,22 +1,22 @@
 cmake_minimum_required(VERSION 3.22)
-project(planning_validator)
+project(autoware_planning_validator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(planning_validator_helpers SHARED
+ament_auto_add_library(autoware_planning_validator_helpers SHARED
   src/utils.cpp
   src/debug_marker.cpp
 )
 
 # planning validator
-ament_auto_add_library(planning_validator_component SHARED
-  include/planning_validator/planning_validator.hpp
+ament_auto_add_library(autoware_planning_validator_component SHARED
+  include/autoware_planning_validator/planning_validator.hpp
   src/planning_validator.cpp
 )
-target_link_libraries(planning_validator_component planning_validator_helpers)
-rclcpp_components_register_node(planning_validator_component
-  PLUGIN "planning_validator::PlanningValidator"
+target_link_libraries(autoware_planning_validator_component autoware_planning_validator_helpers)
+rclcpp_components_register_node(autoware_planning_validator_component
+  PLUGIN "autoware::planning_validator::PlanningValidator"
   EXECUTABLE planning_validator_node
 )
 
@@ -25,7 +25,7 @@ ament_auto_add_library(invalid_trajectory_publisher_node SHARED
   src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp
 )
 rclcpp_components_register_node(invalid_trajectory_publisher_node
-  PLUGIN "planning_validator::InvalidTrajectoryPublisherNode"
+  PLUGIN "autoware::planning_validator::InvalidTrajectoryPublisherNode"
   EXECUTABLE invalid_trajectory_publisher
 )
 
@@ -37,29 +37,29 @@ rosidl_generate_interfaces(
 
 # to use a message defined in the same package
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-    rosidl_target_interfaces(planning_validator_component
+    rosidl_target_interfaces(autoware_planning_validator_component
     ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
             cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-    target_link_libraries(planning_validator_component "${cpp_typesupport_target}")
+    target_link_libraries(autoware_planning_validator_component "${cpp_typesupport_target}")
 endif()
 
 if(BUILD_TESTING)
-  ament_add_ros_isolated_gtest(test_planning_validator
+  ament_add_ros_isolated_gtest(test_autoware_planning_validator
     test/src/test_main.cpp
     test/src/test_planning_validator_functions.cpp
     test/src/test_planning_validator_helper.cpp
     test/src/test_planning_validator_pubsub.cpp
-    test/src/test_${PROJECT_NAME}_node_interface.cpp
+    test/src/test_planning_validator_node_interface.cpp
 
   )
-  ament_target_dependencies(test_planning_validator
+  ament_target_dependencies(test_autoware_planning_validator
     rclcpp
     autoware_planning_msgs
   )
-  target_link_libraries(test_planning_validator
-  planning_validator_component
+  target_link_libraries(test_autoware_planning_validator
+  autoware_planning_validator_component
   )
 endif()
 

diff --git a/planning/planning_validator/README.md b/planning/planning_validator/README.md
@@ -1,8 +1,8 @@
 # Planning Validator
 
-The `planning_validator` is a module that checks the validity of a trajectory before it is published. The status of the validation can be viewed in the `/diagnostics` and `/validation_status` topics. When an invalid trajectory is detected, the `planning_validator` will process the trajectory following the selected option: "0. publish the trajectory as it is", "1. stop publishing the trajectory", "2. publish the last validated trajectory".
+The `autoware_planning_validator` is a module that checks the validity of a trajectory before it is published. The status of the validation can be viewed in the `/diagnostics` and `/validation_status` topics. When an invalid trajectory is detected, the `autoware_planning_validator` will process the trajectory following the selected option: "0. publish the trajectory as it is", "1. stop publishing the trajectory", "2. publish the last validated trajectory".
 
-![planning_validator](./image/planning_validator.drawio.svg)
+![autoware_planning_validator](./image/planning_validator.drawio.svg)
 
 ## Supported features
 
@@ -29,7 +29,7 @@ The following features are to be implemented.
 
 ### Inputs
 
-The `planning_validator` takes in the following inputs:
+The `autoware_planning_validator` takes in the following inputs:
 
 | Name                 | Type                              | Description                                    |
 | -------------------- | --------------------------------- | ---------------------------------------------- |
@@ -48,7 +48,7 @@ It outputs the following:
 
 ## Parameters
 
-The following parameters can be set for the `planning_validator`:
+The following parameters can be set for the `autoware_planning_validator`:
 
 ### System parameters