From 7a55d57565f1e7660c0a3db37395673043865401 Mon Sep 17 00:00:00 2001 From: danielsanchezaran <daniel.sanchez@tier4.jp> Date: Mon, 10 Jun 2024 18:45:12 +0900 Subject: [PATCH] refactor(control_validator)!: prefix package and namespace with autoware (#7304) * rename folders Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * rename add prefix Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change param path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix pluggin problem Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix extra prefixes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change back launchers Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add namespace to address conflict Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete stubborn file Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 20 +++++++++---------- .../README.md | 0 .../config/control_validator.param.yaml | 0 .../image/control_validator.drawio.svg | 0 .../image/trajectory_deviation.drawio.svg | 0 .../control_validator.hpp | 16 +++++++-------- .../debug_marker.hpp | 6 +++--- .../autoware_control_validator}/utils.hpp | 10 +++++----- .../launch/control_validator.launch.xml | 4 ++-- .../msg/ControlValidatorStatus.msg | 0 .../package.xml | 4 ++-- .../src/control_validator.cpp | 12 +++++------ .../src/debug_marker.cpp | 2 +- .../src/utils.cpp | 6 +++--- .../launch/control.launch.py | 4 ++-- .../diagnostic_aggregator/control.param.yaml | 2 +- 17 files changed, 44 insertions(+), 44 deletions(-) rename control/{control_validator => autoware_control_validator}/CMakeLists.txt (50%) rename control/{control_validator => autoware_control_validator}/README.md (100%) rename control/{control_validator => autoware_control_validator}/config/control_validator.param.yaml (100%) rename control/{control_validator => autoware_control_validator}/image/control_validator.drawio.svg (100%) rename control/{control_validator => autoware_control_validator}/image/trajectory_deviation.drawio.svg (100%) rename control/{control_validator/include/control_validator => autoware_control_validator/include/autoware_control_validator}/control_validator.hpp (86%) rename control/{control_validator/include/control_validator => autoware_control_validator/include/autoware_control_validator}/debug_marker.hpp (92%) rename control/{control_validator/include/control_validator => autoware_control_validator/include/autoware_control_validator}/utils.hpp (88%) rename control/{control_validator => autoware_control_validator}/launch/control_validator.launch.xml (79%) rename control/{control_validator => autoware_control_validator}/msg/ControlValidatorStatus.msg (100%) rename control/{control_validator => autoware_control_validator}/package.xml (93%) rename control/{control_validator => autoware_control_validator}/src/control_validator.cpp (95%) rename control/{control_validator => autoware_control_validator}/src/debug_marker.cpp (98%) rename control/{control_validator => autoware_control_validator}/src/utils.cpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index e13158d02f9ef..e24ee56c4165d 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -46,7 +46,7 @@ common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsu common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp diff --git a/control/control_validator/CMakeLists.txt b/control/autoware_control_validator/CMakeLists.txt similarity index 50% rename from control/control_validator/CMakeLists.txt rename to control/autoware_control_validator/CMakeLists.txt index fab942c4dc001..1a4119e47a723 100644 --- a/control/control_validator/CMakeLists.txt +++ b/control/autoware_control_validator/CMakeLists.txt @@ -1,23 +1,23 @@ cmake_minimum_required(VERSION 3.22) -project(control_validator) +project(autoware_control_validator) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(control_validator_helpers SHARED +ament_auto_add_library(autoware_control_validator_helpers SHARED src/utils.cpp src/debug_marker.cpp ) # control validator -ament_auto_add_library(control_validator_component SHARED - include/control_validator/control_validator.hpp +ament_auto_add_library(autoware_control_validator_component SHARED + include/autoware_control_validator/control_validator.hpp src/control_validator.cpp ) -target_link_libraries(control_validator_component control_validator_helpers) -rclcpp_components_register_node(control_validator_component - PLUGIN "control_validator::ControlValidator" - EXECUTABLE control_validator_node +target_link_libraries(autoware_control_validator_component autoware_control_validator_helpers) +rclcpp_components_register_node(autoware_control_validator_component + PLUGIN "autoware::control_validator::ControlValidator" + EXECUTABLE autoware_control_validator_node ) rosidl_generate_interfaces( @@ -28,12 +28,12 @@ rosidl_generate_interfaces( # to use a message defined in the same package if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) - rosidl_target_interfaces(control_validator_component + rosidl_target_interfaces(autoware_control_validator_component ${PROJECT_NAME} "rosidl_typesupport_cpp") else() rosidl_get_typesupport_target( cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp") - target_link_libraries(control_validator_component "${cpp_typesupport_target}") + target_link_libraries(autoware_control_validator_component "${cpp_typesupport_target}") endif() # if(BUILD_TESTING) diff --git a/control/control_validator/README.md b/control/autoware_control_validator/README.md similarity index 100% rename from control/control_validator/README.md rename to control/autoware_control_validator/README.md diff --git a/control/control_validator/config/control_validator.param.yaml b/control/autoware_control_validator/config/control_validator.param.yaml similarity index 100% rename from control/control_validator/config/control_validator.param.yaml rename to control/autoware_control_validator/config/control_validator.param.yaml diff --git a/control/control_validator/image/control_validator.drawio.svg b/control/autoware_control_validator/image/control_validator.drawio.svg similarity index 100% rename from control/control_validator/image/control_validator.drawio.svg rename to control/autoware_control_validator/image/control_validator.drawio.svg diff --git a/control/control_validator/image/trajectory_deviation.drawio.svg b/control/autoware_control_validator/image/trajectory_deviation.drawio.svg similarity index 100% rename from control/control_validator/image/trajectory_deviation.drawio.svg rename to control/autoware_control_validator/image/trajectory_deviation.drawio.svg diff --git a/control/control_validator/include/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware_control_validator/control_validator.hpp similarity index 86% rename from control/control_validator/include/control_validator/control_validator.hpp rename to control/autoware_control_validator/include/autoware_control_validator/control_validator.hpp index 56125cc40b74e..d26abfc2ecd2f 100644 --- a/control/control_validator/include/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware_control_validator/control_validator.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ -#define CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ +#ifndef AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ +#define AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ +#include "autoware_control_validator/debug_marker.hpp" +#include "autoware_control_validator/msg/control_validator_status.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" -#include "control_validator/debug_marker.hpp" -#include "control_validator/msg/control_validator_status.hpp" #include <diagnostic_updater/diagnostic_updater.hpp> #include <rclcpp/rclcpp.hpp> @@ -29,11 +29,11 @@ #include <memory> #include <string> -namespace control_validator +namespace autoware::control_validator { +using autoware_control_validator::msg::ControlValidatorStatus; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -using control_validator::msg::ControlValidatorStatus; using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; using nav_msgs::msg::Odometry; @@ -94,6 +94,6 @@ class ControlValidator : public rclcpp::Node std::shared_ptr<ControlValidatorDebugMarkerPublisher> debug_pose_publisher_; }; -} // namespace control_validator +} // namespace autoware::control_validator -#endif // CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ +#endif // AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_ diff --git a/control/control_validator/include/control_validator/debug_marker.hpp b/control/autoware_control_validator/include/autoware_control_validator/debug_marker.hpp similarity index 92% rename from control/control_validator/include/control_validator/debug_marker.hpp rename to control/autoware_control_validator/include/autoware_control_validator/debug_marker.hpp index 2d3a209cbd7da..cde596ed7e1ab 100644 --- a/control/control_validator/include/control_validator/debug_marker.hpp +++ b/control/autoware_control_validator/include/autoware_control_validator/debug_marker.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ -#define CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ +#ifndef AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ +#define AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ #include <rclcpp/rclcpp.hpp> @@ -57,4 +57,4 @@ class ControlValidatorDebugMarkerPublisher } }; -#endif // CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ +#endif // AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_ diff --git a/control/control_validator/include/control_validator/utils.hpp b/control/autoware_control_validator/include/autoware_control_validator/utils.hpp similarity index 88% rename from control/control_validator/include/control_validator/utils.hpp rename to control/autoware_control_validator/include/autoware_control_validator/utils.hpp index edf97aaf5f510..69faa2fbe4abc 100644 --- a/control/control_validator/include/control_validator/utils.hpp +++ b/control/autoware_control_validator/include/autoware_control_validator/utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CONTROL_VALIDATOR__UTILS_HPP_ -#define CONTROL_VALIDATOR__UTILS_HPP_ +#ifndef AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_ +#define AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_ #include <motion_utils/trajectory/conversion.hpp> #include <rclcpp/rclcpp.hpp> @@ -24,7 +24,7 @@ #include <utility> #include <vector> -namespace control_validator +namespace autoware::control_validator { using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -50,6 +50,6 @@ Trajectory alignTrajectoryWithReferenceTrajectory( double calcMaxLateralDistance( const Trajectory & trajectory, const Trajectory & predicted_trajectory); -} // namespace control_validator +} // namespace autoware::control_validator -#endif // CONTROL_VALIDATOR__UTILS_HPP_ +#endif // AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_ diff --git a/control/control_validator/launch/control_validator.launch.xml b/control/autoware_control_validator/launch/control_validator.launch.xml similarity index 79% rename from control/control_validator/launch/control_validator.launch.xml rename to control/autoware_control_validator/launch/control_validator.launch.xml index 9727e06e60523..651398a17fc78 100644 --- a/control/control_validator/launch/control_validator.launch.xml +++ b/control/autoware_control_validator/launch/control_validator.launch.xml @@ -1,9 +1,9 @@ <launch> - <arg name="control_validator_param_path" default="$(find-pkg-share control_validator)/config/control_validator.param.yaml"/> + <arg name="control_validator_param_path" default="$(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml"/> <arg name="input_reference_trajectory" default="/planning/scenario_planning/trajectory"/> <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/> - <node name="control_validator" exec="control_validator_node" pkg="control_validator" output="screen"> + <node name="control_validator" exec="autoware_control_validator_node" pkg="autoware_control_validator" output="screen"> <!-- load config a file --> <param from="$(var control_validator_param_path)"/> diff --git a/control/control_validator/msg/ControlValidatorStatus.msg b/control/autoware_control_validator/msg/ControlValidatorStatus.msg similarity index 100% rename from control/control_validator/msg/ControlValidatorStatus.msg rename to control/autoware_control_validator/msg/ControlValidatorStatus.msg diff --git a/control/control_validator/package.xml b/control/autoware_control_validator/package.xml similarity index 93% rename from control/control_validator/package.xml rename to control/autoware_control_validator/package.xml index 93779d28d6218..2059308ef9029 100644 --- a/control/control_validator/package.xml +++ b/control/autoware_control_validator/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>control_validator</name> + <name>autoware_control_validator</name> <version>0.1.0</version> - <description>ros node for control_validator</description> + <description>ros node for autoware_control_validator</description> <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer> <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer> <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer> diff --git a/control/control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp similarity index 95% rename from control/control_validator/src/control_validator.cpp rename to control/autoware_control_validator/src/control_validator.cpp index be103647f1b36..e056a32437938 100644 --- a/control/control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_validator/control_validator.hpp" +#include "autoware_control_validator/control_validator.hpp" -#include "control_validator/utils.hpp" +#include "autoware_control_validator/utils.hpp" #include <memory> #include <string> #include <utility> -namespace control_validator +namespace autoware::control_validator { using diagnostic_msgs::msg::DiagnosticStatus; @@ -61,7 +61,7 @@ void ControlValidator::setupParameters() } try { - vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); + vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtil(*this).getVehicleInfo(); } catch (...) { RCLCPP_ERROR(get_logger(), "failed to get vehicle info. use default value."); vehicle_info_.front_overhang_m = 0.5; @@ -210,7 +210,7 @@ void ControlValidator::displayStatus() "predicted trajectory is too far from planning trajectory!!"); } -} // namespace control_validator +} // namespace autoware::control_validator #include <rclcpp_components/register_node_macro.hpp> -RCLCPP_COMPONENTS_REGISTER_NODE(control_validator::ControlValidator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::control_validator::ControlValidator) diff --git a/control/control_validator/src/debug_marker.cpp b/control/autoware_control_validator/src/debug_marker.cpp similarity index 98% rename from control/control_validator/src/debug_marker.cpp rename to control/autoware_control_validator/src/debug_marker.cpp index 2dbdc558b305b..9ef2786c0aef6 100644 --- a/control/control_validator/src/debug_marker.cpp +++ b/control/autoware_control_validator/src/debug_marker.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_validator/debug_marker.hpp" +#include "autoware_control_validator/debug_marker.hpp" #include <motion_utils/marker/marker_helper.hpp> #include <tier4_autoware_utils/ros/marker_helper.hpp> diff --git a/control/control_validator/src/utils.cpp b/control/autoware_control_validator/src/utils.cpp similarity index 98% rename from control/control_validator/src/utils.cpp rename to control/autoware_control_validator/src/utils.cpp index fab8b9f6f888b..e7cace049af6e 100644 --- a/control/control_validator/src/utils.cpp +++ b/control/autoware_control_validator/src/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "control_validator/utils.hpp" +#include "autoware_control_validator/utils.hpp" #include <motion_utils/trajectory/interpolation.hpp> #include <motion_utils/trajectory/trajectory.hpp> @@ -23,7 +23,7 @@ #include <utility> #include <vector> -namespace control_validator +namespace autoware::control_validator { void shiftPose(Pose & pose, double longitudinal) @@ -162,4 +162,4 @@ double calcMaxLateralDistance( return max_dist; } -} // namespace control_validator +} // namespace autoware::control_validator diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 1183514e9a3cb..2dd12b1705dd3 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -386,8 +386,8 @@ def launch_setup(context, *args, **kwargs): # control validator checker control_validator_component = ComposableNode( - package="control_validator", - plugin="control_validator::ControlValidator", + package="autoware_control_validator", + plugin="autoware::control_validator::ControlValidator", name="control_validator", remappings=[ ("~/input/kinematics", "/localization/kinematic_state"), diff --git a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml index 3c8a5c77b2e44..9da5b14780dd1 100644 --- a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml +++ b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml @@ -70,7 +70,7 @@ control_validator: type: diagnostic_aggregator/GenericAnalyzer - path: control_validator + path: autoware_control_validator contains: [": control_validation_max_distance_deviation"] timeout: 1.0