From bf0de10628349ec9ad3069e42dabb93c4c55d2a6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 10 Jun 2024 19:29:43 +0900 Subject: [PATCH] refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (#7385) * add prefix Signed-off-by: Takayuki Murooka * fix other packages Signed-off-by: Takayuki Murooka * fix cppcheck Signed-off-by: Takayuki Murooka * pre-commit Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .github/CODEOWNERS | 2 +- .../launch/vehicle.launch.xml | 2 +- vehicle/accel_brake_map_calibrator/README.md | 20 ++++---- .../accel_brake_map_calibrator_node.hpp | 8 ++-- .../accel_brake_map_calibrator.launch.xml | 2 +- .../accel_brake_map_calibrator/package.xml | 2 +- .../scripts/new_accel_brake_map_server.py | 2 +- .../scripts/view_plot.py | 2 +- .../CMakeLists.txt | 44 ++++++++++++++++++ .../README.md | 4 +- .../raw_vehicle_cmd_converter.param.yaml | 6 +-- .../data/default/accel_map.csv | 0 .../data/default/brake_map.csv | 0 .../data/default/steer_map.csv | 0 .../figure/accel-brake-map-table.png | Bin .../accel_map.hpp | 15 +++--- .../brake_map.hpp | 15 +++--- .../csv_loader.hpp | 10 ++-- .../node.hpp | 18 +++---- .../pid.hpp | 32 ++++++------- .../steer_map.hpp | 17 +++---- .../launch/raw_vehicle_converter.launch.xml | 4 +- .../package.xml | 4 +- .../raw_vehicle_cmd_converter.schema.json | 10 ++-- .../scripts/plot_accel_brake_map.py | 2 +- .../src/accel_map.cpp | 6 +-- .../src/brake_map.cpp | 6 +-- .../src/csv_loader.cpp | 6 +-- .../src/node.cpp | 10 ++-- .../src/pid.cpp | 6 +-- .../src/steer_map.cpp | 6 +-- .../test/map_data/test_1col_map.csv | 0 .../test/map_data/test_accel_map.csv | 0 .../test/map_data/test_brake_map.csv | 0 .../map_data/test_inconsistent_rows_map.csv | 0 .../test/map_data/test_not_interpolatable.csv | 0 .../test/map_data/test_steer_map.csv | 0 ...st_autoware_raw_vehicle_cmd_converter.cpp} | 22 +++++---- .../include/external_cmd_converter/node.hpp | 8 ++-- .../launch/external_cmd_converter.launch.py | 4 +- .../launch/external_cmd_converter.launch.xml | 4 +- vehicle/external_cmd_converter/package.xml | 2 +- .../raw_vehicle_cmd_converter/CMakeLists.txt | 44 ------------------ 43 files changed, 175 insertions(+), 170 deletions(-) create mode 100644 vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/README.md (95%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/config/raw_vehicle_cmd_converter.param.yaml (61%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/data/default/accel_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/data/default/brake_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/data/default/steer_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/figure/accel-brake-map-table.png (100%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/accel_map.hpp (75%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/brake_map.hpp (75%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/csv_loader.hpp (83%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/node.hpp (89%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/pid.hpp (78%) rename vehicle/{raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter}/steer_map.hpp (67%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/launch/raw_vehicle_converter.launch.xml (71%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/package.xml (91%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/schema/raw_vehicle_cmd_converter.schema.json (92%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/scripts/plot_accel_brake_map.py (97%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/accel_map.cpp (95%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/brake_map.cpp (95%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/csv_loader.cpp (96%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/node.cpp (96%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/pid.cpp (95%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/src/steer_map.cpp (91%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_1col_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_accel_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_brake_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_inconsistent_rows_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_not_interpolatable.csv (100%) rename vehicle/{raw_vehicle_cmd_converter => autoware_raw_vehicle_cmd_converter}/test/map_data/test_steer_map.csv (100%) rename vehicle/{raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp => autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp} (92%) delete mode 100644 vehicle/raw_vehicle_cmd_converter/CMakeLists.txt diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0a3204bd8e63e..ef79303f95e94 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -247,7 +247,7 @@ tools/reaction_analyzer/** berkay@leodrive.ai vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp -vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp +vehicle/autoware_raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp diff --git a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml index 0e1d22bfd1827..ffd32ac92c0d5 100644 --- a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml +++ b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml @@ -6,7 +6,7 @@ - + diff --git a/vehicle/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/README.md index c8813280c04ff..c2516eed5de3d 100644 --- a/vehicle/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/README.md @@ -1,6 +1,6 @@ # accel_brake_map_calibrator -The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `raw_vehicle_cmd_converter` node. +The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `autoware_raw_vehicle_cmd_converter` node. The base map, which is lexus's one by default, is updated iteratively with the loaded driving data. @@ -134,15 +134,15 @@ You can also save accel and brake map in the default directory where Autoware re ## System Parameters -| Name | Type | Description | Default value | -| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------- | -| update_method | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell" | -| get_pitch_method | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation | "tf" | -| pedal_accel_graph_output | bool | if true, it will output a log of the pedal accel graph. | true | -| progress_file_output | bool | if true, it will output a log and csv file of the update process. | false | -| default_map_dir | str | directory of default map | [directory of *raw_vehicle_cmd_converter*]/data/default/ | -| calibrated_map_dir | str | directory of calibrated map | [directory of *accel_brake_map_calibrator*]/config/ | -| update_hz | double | hz for update | 10.0 | +| Name | Type | Description | Default value | +| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------- | +| update_method | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell" | +| get_pitch_method | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation | "tf" | +| pedal_accel_graph_output | bool | if true, it will output a log of the pedal accel graph. | true | +| progress_file_output | bool | if true, it will output a log and csv file of the update process. | false | +| default_map_dir | str | directory of default map | [directory of *autoware_raw_vehicle_cmd_converter*]/data/default/ | +| calibrated_map_dir | str | directory of calibrated map | [directory of *accel_brake_map_calibrator*]/config/ | +| update_hz | double | hz for update | 10.0 | ## Algorithm Parameters diff --git a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index 6b94b7301540c..e168def1b8ea5 100644 --- a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -17,9 +17,9 @@ #ifndef ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_ #define ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_ +#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" #include "diagnostic_updater/diagnostic_updater.hpp" -#include "raw_vehicle_cmd_converter/accel_map.hpp" -#include "raw_vehicle_cmd_converter/brake_map.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" @@ -56,12 +56,12 @@ namespace accel_brake_map_calibrator { +using autoware::raw_vehicle_cmd_converter::AccelMap; +using autoware::raw_vehicle_cmd_converter::BrakeMap; using autoware_vehicle_msgs::msg::SteeringReport; using autoware_vehicle_msgs::msg::VelocityReport; using geometry_msgs::msg::TwistStamped; using nav_msgs::msg::OccupancyGrid; -using raw_vehicle_cmd_converter::AccelMap; -using raw_vehicle_cmd_converter::BrakeMap; using std_msgs::msg::Float32MultiArray; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; diff --git a/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml b/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml index c664158a471a7..37ee49fe3c4e0 100644 --- a/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml +++ b/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/vehicle/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/package.xml index 4c4eadea5e1ce..0fb299b199742 100644 --- a/vehicle/accel_brake_map_calibrator/package.xml +++ b/vehicle/accel_brake_map_calibrator/package.xml @@ -13,11 +13,11 @@ ament_cmake_auto autoware_cmake + autoware_raw_vehicle_cmd_converter autoware_vehicle_msgs diagnostic_updater geometry_msgs motion_utils - raw_vehicle_cmd_converter rclcpp std_msgs std_srvs diff --git a/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py b/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py index a2d82a460aed0..35bcfd09eaa38 100755 --- a/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py +++ b/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py @@ -40,7 +40,7 @@ def __init__(self): CalibData, "/accel_brake_map_calibrator/get_data_service", self.get_data_callback ) - default_map_path = get_package_share_directory("raw_vehicle_cmd_converter") + default_map_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter") self.declare_parameter( "/accel_brake_map_calibrator/csv_default_map_dir", default_map_path + "/data/default/" ) diff --git a/vehicle/accel_brake_map_calibrator/scripts/view_plot.py b/vehicle/accel_brake_map_calibrator/scripts/view_plot.py index 4d713cf4848e0..8041f361be3ce 100755 --- a/vehicle/accel_brake_map_calibrator/scripts/view_plot.py +++ b/vehicle/accel_brake_map_calibrator/scripts/view_plot.py @@ -45,7 +45,7 @@ def __init__(self, args): max_pedal_vel_thr = args.max_pedal_vel_thr if default_map_dir is None: - package_path = get_package_share_directory("raw_vehicle_cmd_converter") + package_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter") self.declare_parameter( "/accel_brake_map_calibrator/csv_default_map_dir", package_path + "/data/default/" ) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt new file mode 100644 index 0000000000000..fc54b302512fa --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_raw_vehicle_cmd_converter) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(actuation_map_converter SHARED + src/accel_map.cpp + src/brake_map.cpp + src/steer_map.cpp + src/csv_loader.cpp + src/pid.cpp +) + +ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED + src/node.cpp +) + +target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component actuation_map_converter) + +rclcpp_components_register_node(autoware_raw_vehicle_cmd_converter_node_component + PLUGIN "autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode" + EXECUTABLE autoware_raw_vehicle_cmd_converter_node +) + +if(BUILD_TESTING) + set(TEST_SOURCES + test/test_autoware_raw_vehicle_cmd_converter.cpp + ) + set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_autoware_raw_vehicle_cmd_converter) + ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) + target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter autoware_raw_vehicle_cmd_converter_node_component) +endif() + +ament_auto_package(INSTALL_TO_SHARE + config + data + launch + test +) + +install(PROGRAMS scripts/plot_accel_brake_map.py + DESTINATION lib/${PROJECT_NAME} +) diff --git a/vehicle/raw_vehicle_cmd_converter/README.md b/vehicle/autoware_raw_vehicle_cmd_converter/README.md similarity index 95% rename from vehicle/raw_vehicle_cmd_converter/README.md rename to vehicle/autoware_raw_vehicle_cmd_converter/README.md index 6ac1ee4666cae..c204346d9d834 100644 --- a/vehicle/raw_vehicle_cmd_converter/README.md +++ b/vehicle/autoware_raw_vehicle_cmd_converter/README.md @@ -1,4 +1,4 @@ -# raw_vehicle_cmd_converter +# autoware_raw_vehicle_cmd_converter ## Overview @@ -40,7 +40,7 @@ For ease of calibration and adjustments to the lookup table, an auto-calibration ## Parameters -{{ json_to_markdown("vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }} +{{ json_to_markdown("vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }} ## Limitation diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml similarity index 61% rename from vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml rename to vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index bce50a0b581c7..b53b0d7622198 100644 --- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: - csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv - csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv - csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv + csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: true diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/accel_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/accel_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/data/default/accel_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/accel_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/brake_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/brake_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/data/default/brake_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/brake_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/steer_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/steer_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/data/default/steer_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/steer_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/figure/accel-brake-map-table.png b/vehicle/autoware_raw_vehicle_cmd_converter/figure/accel-brake-map-table.png similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/figure/accel-brake-map-table.png rename to vehicle/autoware_raw_vehicle_cmd_converter/figure/accel-brake-map-table.png diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp similarity index 75% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp index 3bdb71a11f744..90cc4d15fd33e 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ -#include "raw_vehicle_cmd_converter/csv_loader.hpp" +#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { class AccelMap { @@ -37,13 +37,14 @@ class AccelMap std::vector> getAccelMap() const { return accel_map_; } private: - rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")}; + rclcpp::Logger logger_{ + rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")}; rclcpp::Clock clock_{RCL_ROS_TIME}; std::string vehicle_name_; std::vector vel_index_; std::vector throttle_index_; std::vector> accel_map_; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp similarity index 75% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp index 6dd5ab94c5d06..dfc5e99bfa988 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ -#include "raw_vehicle_cmd_converter/csv_loader.hpp" +#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { class BrakeMap { @@ -37,7 +37,8 @@ class BrakeMap std::vector> getBrakeMap() const { return brake_map_; } private: - rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")}; + rclcpp::Logger logger_{ + rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")}; rclcpp::Clock clock_{RCL_ROS_TIME}; std::string vehicle_name_; std::vector vel_index_; @@ -45,6 +46,6 @@ class BrakeMap std::vector brake_index_rev_; std::vector> brake_map_; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp similarity index 83% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp index ee89e03780b0b..44ba5ac571242 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ #include #include @@ -21,7 +21,7 @@ #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { using Table = std::vector>; using Map = std::vector>; @@ -42,6 +42,6 @@ class CSVLoader private: std::string csv_path_; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp similarity index 89% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp index d71ff96abade0..9b64c26770e40 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ -#include "raw_vehicle_cmd_converter/accel_map.hpp" -#include "raw_vehicle_cmd_converter/brake_map.hpp" -#include "raw_vehicle_cmd_converter/pid.hpp" -#include "raw_vehicle_cmd_converter/steer_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/pid.hpp" +#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" #include @@ -34,7 +34,7 @@ #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { using Control = autoware_control_msgs::msg::Control; using tier4_debug_msgs::msg::Float32MultiArrayStamped; @@ -119,6 +119,6 @@ class RawVehicleCommandConverterNode : public rclcpp::Node std::unique_ptr logger_configure_; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp similarity index 78% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp index c13de9b332fa3..e9fc0f13d1fc8 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ #include #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { class PIDController { @@ -42,17 +42,17 @@ class PIDController private: // parameters - double kp_; - double ki_; - double kd_; - double max_ret_p_; - double min_ret_p_; - double max_ret_i_; - double min_ret_i_; - double max_ret_d_; - double min_ret_d_; - double max_ret_; - double min_ret_; + double kp_{}; + double ki_{}; + double kd_{}; + double max_ret_p_{}; + double min_ret_p_{}; + double max_ret_i_{}; + double min_ret_i_{}; + double max_ret_d_{}; + double min_ret_d_{}; + double max_ret_{}; + double min_ret_{}; // states double error_integral_{0.0}; double prev_error_{0.0}; @@ -60,6 +60,6 @@ class PIDController double invalid_integration_decay_{0.0}; double is_initialized_{false}; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp similarity index 67% rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp index 7e4a3084d0223..d41bb676ffb47 100644 --- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ -#define RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ +#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ -#include "raw_vehicle_cmd_converter/csv_loader.hpp" -#include "raw_vehicle_cmd_converter/pid.hpp" +#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" +#include "autoware_raw_vehicle_cmd_converter/pid.hpp" #include #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { class SteerMap { @@ -36,8 +36,9 @@ class SteerMap std::vector steer_index_; std::vector output_index_; std::vector> steer_map_; - rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("steer_map")}; + rclcpp::Logger logger_{ + rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("steer_map")}; }; -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter -#endif // RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_ diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml similarity index 71% rename from vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml rename to vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml index 0a9962a7c2a30..735d51e80d5d4 100644 --- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml @@ -5,9 +5,9 @@ - + - + diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml similarity index 91% rename from vehicle/raw_vehicle_cmd_converter/package.xml rename to vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 376a5c74f1cb6..25a329be3a6b9 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -1,9 +1,9 @@ - raw_vehicle_cmd_converter + autoware_raw_vehicle_cmd_converter 0.1.0 - The raw_vehicle_cmd_converter package + The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki Makoto Kurihara diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json similarity index 92% rename from vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json rename to vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index 4b562f401e09b..1903f8252d656 100644 --- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -3,23 +3,23 @@ "title": "Parameters for Raw Vehicle Cmd Converter", "type": "object", "definitions": { - "raw_vehicle_cmd_converter": { + "autoware_raw_vehicle_cmd_converter": { "type": "object", "properties": { "csv_path_accel_map": { "type": "string", "description": "path for acceleration map csv file", - "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv" + "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv" }, "csv_path_brake_map": { "type": "string", "description": "path for brake map csv file", - "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv" + "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv" }, "csv_path_steer_map": { "type": "string", "description": "path for steer map csv file", - "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv" + "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv" }, "convert_accel_cmd": { "type": "boolean", @@ -178,7 +178,7 @@ "type": "object", "properties": { "ros__parameters": { - "$ref": "#/definitions/raw_vehicle_cmd_converter" + "$ref": "#/definitions/autoware_raw_vehicle_cmd_converter" } }, "required": ["ros__parameters"] diff --git a/vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py similarity index 97% rename from vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py rename to vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py index 62979fce89bcf..95b2271239f8f 100755 --- a/vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py +++ b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py @@ -23,7 +23,7 @@ def main(dimension, map_dir, accel_or_brake): if map_dir is None: - script_dir = get_package_share_directory("raw_vehicle_cmd_converter") + script_dir = get_package_share_directory("autoware_raw_vehicle_cmd_converter") csv_dir = script_dir + "/data/default" else: csv_dir = map_dir diff --git a/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp similarity index 95% rename from vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp index 42c63b152e4f4..236aa7dc451c3 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/accel_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp" #include "interpolation/linear_interpolation.hpp" @@ -23,7 +23,7 @@ using namespace std::literals::chrono_literals; -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { bool AccelMap::readAccelMapFromCSV(const std::string & csv_path, const bool validation) { @@ -83,4 +83,4 @@ bool AccelMap::getAcceleration(const double throttle, const double vel, double & return true; } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp similarity index 95% rename from vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp index 68d89474f3ca6..ae0f8e5f41b1c 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/brake_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" #include "interpolation/linear_interpolation.hpp" @@ -20,7 +20,7 @@ #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { bool BrakeMap::readBrakeMapFromCSV(const std::string & csv_path, const bool validation) { @@ -94,4 +94,4 @@ bool BrakeMap::getAcceleration(const double brake, const double vel, double & ac return true; } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp similarity index 96% rename from vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp index a6a331a0e7324..8044a88bc9898 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/csv_loader.hpp" +#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" #include #include #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { CSVLoader::CSVLoader(const std::string & csv_path) { @@ -150,4 +150,4 @@ double CSVLoader::clampValue( return val; } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp similarity index 96% rename from vehicle/raw_vehicle_cmd_converter/src/node.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index 91c668f63dfbd..044d698e8b9fc 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/node.hpp" +#include "autoware_raw_vehicle_cmd_converter/node.hpp" #include #include #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( const rclcpp::NodeOptions & node_options) -: Node("raw_vehicle_cmd_converter_node", node_options) +: Node("autoware_raw_vehicle_cmd_converter_node", node_options) { using std::placeholders::_1; /* parameters for accel/brake map */ @@ -221,7 +221,7 @@ void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr control_cmd_ptr_ = msg; publishActuationCmd(); } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(raw_vehicle_cmd_converter::RawVehicleCommandConverterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode) diff --git a/vehicle/raw_vehicle_cmd_converter/src/pid.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp similarity index 95% rename from vehicle/raw_vehicle_cmd_converter/src/pid.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp index 216382be3dc81..ebc608cd61fad 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/pid.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/pid.hpp" +#include "autoware_raw_vehicle_cmd_converter/pid.hpp" #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { double PIDController::calculateFB( @@ -100,4 +100,4 @@ void PIDController::reset() prev_error_ = 0; is_first_time_ = true; } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp similarity index 91% rename from vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp index e050a1beba3ae..6abe8adfdc9e3 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raw_vehicle_cmd_converter/steer_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" #include "interpolation/linear_interpolation.hpp" #include #include -namespace raw_vehicle_cmd_converter +namespace autoware::raw_vehicle_cmd_converter { bool SteerMap::readSteerMapFromCSV(const std::string & csv_path, const bool validation) @@ -53,4 +53,4 @@ void SteerMap::getSteer(const double steer_rate, const double steer, double & ou CSVLoader::clampValue(steer_rate, steer_rate_interp, "steer: steer_rate"); output = interpolation::lerp(steer_rate_interp, output_index_, clamped_steer_rate); } -} // namespace raw_vehicle_cmd_converter +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv similarity index 100% rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv diff --git a/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp similarity index 92% rename from vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp rename to vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp index 9f035b303e1a9..746f872789b07 100644 --- a/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp @@ -13,11 +13,11 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/pid.hpp" +#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" #include "gtest/gtest.h" -#include "raw_vehicle_cmd_converter/accel_map.hpp" -#include "raw_vehicle_cmd_converter/brake_map.hpp" -#include "raw_vehicle_cmd_converter/pid.hpp" -#include "raw_vehicle_cmd_converter/steer_map.hpp" #include #include @@ -48,14 +48,15 @@ * */ -using raw_vehicle_cmd_converter::AccelMap; -using raw_vehicle_cmd_converter::BrakeMap; -using raw_vehicle_cmd_converter::PIDController; -using raw_vehicle_cmd_converter::SteerMap; +using autoware::raw_vehicle_cmd_converter::AccelMap; +using autoware::raw_vehicle_cmd_converter::BrakeMap; +using autoware::raw_vehicle_cmd_converter::PIDController; +using autoware::raw_vehicle_cmd_converter::SteerMap; double epsilon = 1e-4; // may throw PackageNotFoundError exception for invalid package const auto map_path = - ament_index_cpp::get_package_share_directory("raw_vehicle_cmd_converter") + "/test/map_data/"; + ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter") + + "/test/map_data/"; bool loadAccelMapData(AccelMap & accel_map) { @@ -93,7 +94,8 @@ TEST(ConverterTests, LoadExampleMap) BrakeMap brake_map; SteerMap steer_map; const auto data_path = - ament_index_cpp::get_package_share_directory("raw_vehicle_cmd_converter") + "/data/default/"; + ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter") + + "/data/default/"; // for invalid path EXPECT_TRUE(accel_map.readAccelMapFromCSV(data_path + "accel_map.csv", true)); EXPECT_TRUE(brake_map.readBrakeMapFromCSV(data_path + "brake_map.csv", true)); diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp index 5fb1f5efc38fd..b491cb3db5484 100644 --- a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp +++ b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp @@ -17,9 +17,9 @@ #include "tier4_autoware_utils/ros/polling_subscriber.hpp" +#include +#include #include -#include -#include #include #include @@ -37,9 +37,9 @@ namespace external_cmd_converter using GearCommand = autoware_vehicle_msgs::msg::GearCommand; using autoware_control_msgs::msg::Control; using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped; +using autoware::raw_vehicle_cmd_converter::AccelMap; +using autoware::raw_vehicle_cmd_converter::BrakeMap; using nav_msgs::msg::Odometry; -using raw_vehicle_cmd_converter::AccelMap; -using raw_vehicle_cmd_converter::BrakeMap; using tier4_control_msgs::msg::GateMode; class ExternalCmdConverterNode : public rclcpp::Node diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py index 77dbb99d9b477..e3f5ec20e6165 100644 --- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py +++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py @@ -33,7 +33,7 @@ def generate_launch_description(): DeclareLaunchArgument( "csv_path_accel_map", default_value=[ - FindPackageShare("raw_vehicle_cmd_converter"), + FindPackageShare("autoware_raw_vehicle_cmd_converter"), "/data/default/accel_map.csv", ], # noqa: E501 description="csv file path for accel map", @@ -41,7 +41,7 @@ def generate_launch_description(): DeclareLaunchArgument( "csv_path_brake_map", default_value=[ - FindPackageShare("raw_vehicle_cmd_converter"), + FindPackageShare("autoware_raw_vehicle_cmd_converter"), "/data/default/brake_map.csv", ], # noqa: E501 description="csv file path for brake map", diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml index 856b534af81da..b2ac46297b044 100644 --- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml +++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml index 72b0eb2706a3a..5627616971e26 100644 --- a/vehicle/external_cmd_converter/package.xml +++ b/vehicle/external_cmd_converter/package.xml @@ -14,11 +14,11 @@ autoware_cmake autoware_control_msgs + autoware_raw_vehicle_cmd_converter autoware_vehicle_msgs diagnostic_updater geometry_msgs nav_msgs - raw_vehicle_cmd_converter rclcpp rclcpp_components std_msgs diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt deleted file mode 100644 index d253b2315465e..0000000000000 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(raw_vehicle_cmd_converter) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(actuation_map_converter SHARED - src/accel_map.cpp - src/brake_map.cpp - src/steer_map.cpp - src/csv_loader.cpp - src/pid.cpp -) - -ament_auto_add_library(raw_vehicle_cmd_converter_node_component SHARED - src/node.cpp -) - -target_link_libraries(raw_vehicle_cmd_converter_node_component actuation_map_converter) - -rclcpp_components_register_node(raw_vehicle_cmd_converter_node_component - PLUGIN "raw_vehicle_cmd_converter::RawVehicleCommandConverterNode" - EXECUTABLE raw_vehicle_cmd_converter_node -) - -if(BUILD_TESTING) - set(TEST_SOURCES - test/test_raw_vehicle_cmd_converter.cpp - ) - set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_raw_vehicle_cmd_converter) - ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) - target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter raw_vehicle_cmd_converter_node_component) -endif() - -ament_auto_package(INSTALL_TO_SHARE - config - data - launch - test -) - -install(PROGRAMS scripts/plot_accel_brake_map.py - DESTINATION lib/${PROJECT_NAME} -)