refactor(trajectory_follower_base): trajectory follower base add auto…

…ware prefix (#7343) * rename trajectory follower base package Signed-off-by: mohammad alqudah <[email protected]> * update dependencies and includes Signed-off-by: mohammad alqudah <[email protected]> * fix formats Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
autowarefoundation · Jun 11, 2024 · afc129e · afc129e
1 parent 4129ddd
commit afc129e
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Showing 20 changed files with 35 additions and 35 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -58,7 +58,7 @@ control/predicted_path_checker/** [email protected]
 control/pure_pursuit/** [email protected]
 control/shift_decider/** [email protected]
 control/autoware_smart_mpc_trajectory_follower/** [email protected]
-control/trajectory_follower_base/** [email protected] [email protected]
+control/autoware_trajectory_follower_base/** [email protected] [email protected]
 control/trajectory_follower_node/** [email protected] [email protected]
 control/autoware_vehicle_cmd_gate/** [email protected] [email protected]
 evaluator/control_evaluator/** [email protected] [email protected]

diff --git a/...mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp b/...mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp
@@ -19,8 +19,8 @@
 #include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
 #include "autoware_mpc_lateral_controller/mpc_utils.hpp"
 #include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "trajectory_follower_base/lateral_controller_base.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"

diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_trajectory_follower_base</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -35,7 +36,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>trajectory_follower_base</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...l_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp b/...l_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -20,14 +20,14 @@
 #include "autoware_pid_longitudinal_controller/lowpass_filter.hpp"
 #include "autoware_pid_longitudinal_controller/pid.hpp"
 #include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
+#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
-#include "trajectory_follower_base/longitudinal_controller_base.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>

diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_trajectory_follower_base</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -36,7 +37,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>trajectory_follower_base</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...l/trajectory_follower_base/CMakeLists.txt → ...e_trajectory_follower_base/CMakeLists.txt b/...l/trajectory_follower_base/CMakeLists.txt → ...e_trajectory_follower_base/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(trajectory_follower_base)
+project(autoware_trajectory_follower_base)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/control/trajectory_follower_base/README.md → ...toware_trajectory_follower_base/README.md b/control/trajectory_follower_base/README.md → ...toware_trajectory_follower_base/README.md
diff --git a/...e/trajectory_follower_base/input_data.hpp → ...e_trajectory_follower_base/input_data.hpp b/...e/trajectory_follower_base/input_data.hpp → ...e_trajectory_follower_base/input_data.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
-#define TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
+#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
+#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
 
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -33,4 +33,4 @@ struct InputData
 };
 }  // namespace autoware::motion::control::trajectory_follower
 
-#endif  // TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
+#endif  // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
diff --git a/...follower_base/lateral_controller_base.hpp → ...follower_base/lateral_controller_base.hpp b/...follower_base/lateral_controller_base.hpp → ...follower_base/lateral_controller_base.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
-#define TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
+#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
+#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
 
+#include "autoware_trajectory_follower_base/input_data.hpp"
+#include "autoware_trajectory_follower_base/sync_data.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "trajectory_follower_base/input_data.hpp"
-#include "trajectory_follower_base/sync_data.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
 
@@ -44,4 +44,4 @@ class LateralControllerBase
 
 }  // namespace autoware::motion::control::trajectory_follower
 
-#endif  // TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
+#endif  // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
diff --git a/...wer_base/longitudinal_controller_base.hpp → ...wer_base/longitudinal_controller_base.hpp b/...wer_base/longitudinal_controller_base.hpp → ...wer_base/longitudinal_controller_base.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
-#define TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
+#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
+#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
 
+#include "autoware_trajectory_follower_base/input_data.hpp"
+#include "autoware_trajectory_follower_base/sync_data.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "trajectory_follower_base/input_data.hpp"
-#include "trajectory_follower_base/sync_data.hpp"
 
 #include "autoware_control_msgs/msg/longitudinal.hpp"
 
@@ -46,4 +46,4 @@ class LongitudinalControllerBase
 
 }  // namespace autoware::motion::control::trajectory_follower
 
-#endif  // TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
+#endif  // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
diff --git a/...de/trajectory_follower_base/sync_data.hpp → ...re_trajectory_follower_base/sync_data.hpp b/...de/trajectory_follower_base/sync_data.hpp → ...re_trajectory_follower_base/sync_data.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
-#define TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
+#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
+#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
 
 namespace autoware::motion::control::trajectory_follower
 {
@@ -30,4 +30,4 @@ struct LongitudinalSyncData
 
 }  // namespace autoware::motion::control::trajectory_follower
 
-#endif  // TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
+#endif  // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
diff --git a/...tory_follower_base/visibility_control.hpp → ...tory_follower_base/visibility_control.hpp b/...tory_follower_base/visibility_control.hpp → ...tory_follower_base/visibility_control.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
-#define TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
+#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
 
 ////////////////////////////////////////////////////////////////////////////////
 #if defined(__WIN32)
@@ -34,4 +34,4 @@
 #error "Unsupported Build Configuration"
 #endif
 
-#endif  // TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
+#endif  // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
diff --git a/control/trajectory_follower_base/package.xml → ...ware_trajectory_follower_base/package.xml b/control/trajectory_follower_base/package.xml → ...ware_trajectory_follower_base/package.xml
@@ -1,7 +1,7 @@
 <?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>trajectory_follower_base</name>
+  <name>autoware_trajectory_follower_base</name>
   <version>1.0.0</version>
   <description>Library for generating lateral and longitudinal controls following a trajectory</description>
 

diff --git a/...ower_base/src/lateral_controller_base.cpp → ...ower_base/src/lateral_controller_base.cpp b/...ower_base/src/lateral_controller_base.cpp → ...ower_base/src/lateral_controller_base.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "trajectory_follower_base/lateral_controller_base.hpp"
+#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
 
 namespace autoware::motion::control::trajectory_follower
 {

diff --git a/...base/src/longitudinal_controller_base.cpp → ...base/src/longitudinal_controller_base.cpp b/...base/src/longitudinal_controller_base.cpp → ...base/src/longitudinal_controller_base.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "trajectory_follower_base/longitudinal_controller_base.hpp"
+#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
 
 namespace autoware::motion::control::trajectory_follower
 {

diff --git a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp b/control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp
@@ -30,12 +30,12 @@
 #ifndef PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
 #define PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
 
+#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
 #include "pure_pursuit/pure_pursuit.hpp"
 #include "pure_pursuit/pure_pursuit_viz.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
-#include "trajectory_follower_base/lateral_controller_base.hpp"
 
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/conversion.hpp>

diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml
@@ -16,6 +16,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_trajectory_follower_base</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
   <depend>geometry_msgs</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>trajectory_follower_base</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/trajectory_follower_node/README.md b/control/trajectory_follower_node/README.md
@@ -6,13 +6,13 @@ Generate control commands to follow a given Trajectory.
 
 ## Design
 
-This is a node of the functionalities implemented in the controller class derived from [trajectory_follower_base](../trajectory_follower_base/README.md#trajectory-follower) package. It has instances of those functionalities, gives them input data to perform calculations, and publishes control commands.
+This is a node of the functionalities implemented in the controller class derived from [autoware_trajectory_follower_base](../autoware_trajectory_follower_base/README.md#trajectory-follower) package. It has instances of those functionalities, gives them input data to perform calculations, and publishes control commands.
 
 By default, the controller instance with the `Controller` class as follows is used.
 
 ```plantuml
 @startuml
-package trajectory_follower_base {
+package autoware_trajectory_follower_base {
 abstract class LateralControllerBase {
 longitudinal_sync_data_
 

diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
@@ -15,6 +15,8 @@
 #ifndef TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
 #define TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
 
+#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
+#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
@@ -23,8 +25,6 @@
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
-#include "trajectory_follower_base/lateral_controller_base.hpp"
-#include "trajectory_follower_base/longitudinal_controller_base.hpp"
 #include "trajectory_follower_node/visibility_control.hpp"
 
 #include <Eigen/Core>

diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml
@@ -24,14 +24,14 @@
   <depend>autoware_mpc_lateral_controller</depend>
   <depend>autoware_pid_longitudinal_controller</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_trajectory_follower_base</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pure_pursuit</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_autoware_utils</depend>
-  <depend>trajectory_follower_base</depend>
   <depend>visualization_msgs</depend>
 
   <exec_depend>ros2launch</exec_depend>