refactor(accel_brake_map_calibrator)!: add autoware_ prefix (#7351)

* add prefix to the codes

Signed-off-by: Yuki Takagi <[email protected]>

change dir name

Signed-off-by: Yuki Takagi <[email protected]>

update

Signed-off-by: Yuki Takagi <[email protected]>

update

Signed-off-by: Yuki Takagi <[email protected]>

* delete debug

Signed-off-by: Yuki Takagi <[email protected]>

* fix format

Signed-off-by: Yuki Takagi <[email protected]>

* fix format

Signed-off-by: Yuki Takagi <[email protected]>

* restore

Signed-off-by: Yuki Takagi <[email protected]>

* poi

Signed-off-by: Yuki Takagi <[email protected]>

---------

Signed-off-by: Yuki Takagi <[email protected]>

.github/CODEOWNERS

@@ -244,8 +244,8 @@ system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]
 system/velodyne_monitor/** [email protected]
 tools/reaction_analyzer/** [email protected]
-vehicle/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/autoware_steer_offset_estimator/** [email protected]
+vehicle/autoware_accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/autoware_raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
 vehicle/autoware_steer_offset_estimator/** [email protected]

perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "autoware_crosswalk_traffic_light_estimator/node.hpp"
+#include "crosswalk_traffic_light_estimator/node.hpp"
 
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>

vehicle/accel_brake_map_calibrator/CMakeLists.txt → vehicle/autoware_accel_brake_map_calibrator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(accel_brake_map_calibrator)
+project(autoware_accel_brake_map_calibrator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

vehicle/accel_brake_map_calibrator/README.md → vehicle/autoware_accel_brake_map_calibrator/README.md

@@ -8,20 +8,20 @@ The base map, which is lexus's one by default, is updated iteratively with the l
 
 ### Launch Calibrator
 
-After launching Autoware, run the `accel_brake_map_calibrator` by the following command and then perform autonomous driving. Note: You can collect data with manual driving if it is possible to use the same vehicle interface as during autonomous driving (e.g. using a joystick).
+After launching Autoware, run the `autoware_accel_brake_map_calibrator` by the following command and then perform autonomous driving. Note: You can collect data with manual driving if it is possible to use the same vehicle interface as during autonomous driving (e.g. using a joystick).
 
 ```sh
-ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true
+ros2 launch autoware_accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true
 ```
 
 Or if you want to use rosbag files, run the following commands.
 
 ```sh
-ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true
+ros2 launch autoware_accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true
 ros2 bag play <rosbag_file> --clock
 ```
 
-During the calibration with setting the parameter `progress_file_output` to true, the log file is output in [directory of *accel_brake_map_calibrator*]/config/ . You can also see accel and brake maps in [directory of *accel_brake_map_calibrator*]/config/accel_map.csv and [directory of *accel_brake_map_calibrator*]/config/brake_map.csv after calibration.
+During the calibration with setting the parameter `progress_file_output` to true, the log file is output in [directory of *autoware_accel_brake_map_calibrator*]/config/ . You can also see accel and brake maps in [directory of *autoware_accel_brake_map_calibrator*]/config/accel_map.csv and [directory of *autoware_accel_brake_map_calibrator*]/config/brake_map.csv after calibration.
 
 ### Calibration plugin
 
@@ -86,7 +86,7 @@ The process of calibration can be visualized as below. Since these scripts need
 The following command shows the plot of used data in the calibration. In each plot of velocity ranges, you can see the distribution of the relationship between pedal and acceleration, and raw data points with colors according to their pitch angles.
 
 ```sh
-ros2 run accel_brake_map_calibrator view_plot.py
+ros2 run autoware_accel_brake_map_calibrator view_plot.py
 ```
 
 ![sample pic](media/log_sample.png)
@@ -102,7 +102,7 @@ The following command shows the statistics of the calibration:
 of all data in each map cell.
 
 ```sh
-ros2 run accel_brake_map_calibrator view_statistics.py
+ros2 run autoware_accel_brake_map_calibrator view_statistics.py
 ```
 
 ![sample pic2](media/statistics_sample.png)
@@ -141,7 +141,7 @@ You can also save accel and brake map in the default directory where Autoware re
 | 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/               |
+| calibrated_map_dir       | str    | directory of calibrated map                                                                                                                                                       | [directory of *autoware_accel_brake_map_calibrator*]/config/      |
 | update_hz                | double | hz for update                                                                                                                                                                     | 10.0                                                              |
 
 ## Algorithm Parameters
@@ -176,9 +176,9 @@ These scripts are useful to test for accel brake map calibration. These generate
 The `accel/brake_tester.py` receives a target accel/brake command from CLI. It sends a target value to `actuation_cmd_publisher.py` which generates the `ActuationCmd`. You can run these scripts by the following commands in the different terminals, and it will be as in the screenshot below.
 
 ```bash
-ros2 run accel_brake_map_calibrator accel_tester.py
-ros2 run accel_brake_map_calibrator brake_tester.py
-ros2 run accel_brake_map_calibrator actuation_cmd_publisher.py
+ros2 run autoware_accel_brake_map_calibrator accel_tester.py
+ros2 run autoware_accel_brake_map_calibrator brake_tester.py
+ros2 run autoware_accel_brake_map_calibrator actuation_cmd_publisher.py
 ```
 
 ![actuation_cmd_publisher_util](./media/actuation_cmd_publisher_util.png)

vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp → vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp

@@ -14,8 +14,8 @@
 // limitations under the License.
 //
 
-#ifndef ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
-#define ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
+#ifndef AUTOWARE_ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
+#define AUTOWARE_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"
@@ -53,7 +53,7 @@
 #include <string>
 #include <vector>
 
-namespace accel_brake_map_calibrator
+namespace autoware::accel_brake_map_calibrator
 {
 
 using autoware::raw_vehicle_cmd_converter::AccelMap;
@@ -376,6 +376,6 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   explicit AccelBrakeMapCalibrator(const rclcpp::NodeOptions & node_options);
 };
 
-}  // namespace accel_brake_map_calibrator
+}  // namespace autoware::accel_brake_map_calibrator
 
-#endif  // ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
+#endif  // AUTOWARE_ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_

vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml → vehicle/autoware_accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="accel_brake_map_calib_param" default="$(find-pkg-share accel_brake_map_calibrator)/config/accel_brake_map_calibrator.param.yaml"/>
+  <arg name="accel_brake_map_calib_param" default="$(find-pkg-share autoware_accel_brake_map_calibrator)/config/accel_brake_map_calibrator.param.yaml"/>
   <arg name="csv_default_map_dir" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/"/>
-  <arg name="csv_calibrated_map_dir" default="$(find-pkg-share accel_brake_map_calibrator)/config/"/>
+  <arg name="csv_calibrated_map_dir" default="$(find-pkg-share autoware_accel_brake_map_calibrator)/config/"/>
   <arg name="logger_level" default="info"/>
   <arg name="rviz" default="true"/>
   <arg name="pedal_accel_graph_output" default="true"/>
@@ -11,7 +11,7 @@
   <arg name="calibration_method" default="each_cell"/>
 
   <!-- calibration interface -->
-  <node pkg="accel_brake_map_calibrator" exec="accel_brake_map_calibrator" name="accel_brake_map_calibrator" output="screen">
+  <node pkg="autoware_accel_brake_map_calibrator" exec="accel_brake_map_calibrator" name="accel_brake_map_calibrator" output="screen">
     <param from="$(var accel_brake_map_calib_param)"/>
     <remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
     <remap from="~/input/steer" to="/vehicle/status/steering_status"/>
@@ -20,16 +20,16 @@
     <remap from="~/input/update_map_dir" to="~/update_map_dir"/>
     <param name="csv_default_map_dir" value="$(var csv_default_map_dir)"/>
     <param name="csv_calibrated_map_dir" value="$(var csv_calibrated_map_dir)"/>
-    <param name="output_log_file" value="$(find-pkg-share accel_brake_map_calibrator)/config/log.csv"/>
+    <param name="output_log_file" value="$(find-pkg-share autoware_accel_brake_map_calibrator)/config/log.csv"/>
     <param name="pedal_accel_graph_output" value="$(var pedal_accel_graph_output)"/>
     <param name="progress_file_output" value="$(var progress_file_output)"/>
     <param name="use_sim_time" value="$(var use_sim_time)"/>
   </node>
 
   <!-- calibration plot and map server node -->
-  <node pkg="accel_brake_map_calibrator" exec="new_accel_brake_map_server.py" name="new_accel_brake_map_server" output="screen">
+  <node pkg="autoware_accel_brake_map_calibrator" exec="new_accel_brake_map_server.py" name="new_accel_brake_map_server" output="screen">
     <param name="calibration_method" value="$(var calibration_method)"/>
   </node>
   <!-- Rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share accel_brake_map_calibrator)/rviz/occupancy.rviz" if="$(var rviz)"/>
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_accel_brake_map_calibrator)/rviz/occupancy.rviz" if="$(var rviz)"/>
 </launch>

vehicle/accel_brake_map_calibrator/package.xml → vehicle/autoware_accel_brake_map_calibrator/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>accel_brake_map_calibrator</name>
+  <name>autoware_accel_brake_map_calibrator</name>
   <version>0.1.0</version>
   <description>The accel_brake_map_calibrator</description>
   <maintainer email="[email protected]">Tomoya Kimura</maintainer>

vehicle/accel_brake_map_calibrator/scripts/delay_estimator.py → vehicle/autoware_accel_brake_map_calibrator/scripts/delay_estimator.py

@@ -29,7 +29,7 @@ class DelayEstimator(Node):
     def __init__(self):
         # get parameter
         super().__init__("delay_estimator")
-        package_path = get_package_share_directory("accel_brake_map_calibrator")
+        package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
         self.declare_parameter("log_file", package_path + "/config/log.csv")
         log_file = self.get_parameter("log_file").get_parameter_value().string_value
         self.declare_parameter("velocity_min_threshold", 0.1)

vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py → vehicle/autoware_accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py

@@ -50,7 +50,7 @@ def __init__(self):
             .string_value
         )
 
-        package_path = get_package_share_directory("accel_brake_map_calibrator")
+        package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
         self.declare_parameter(
             "/accel_brake_map_calibrator/csv_calibrated_map_dir", package_path + "/config/"
         )

vehicle/accel_brake_map_calibrator/scripts/view_plot.py → vehicle/autoware_accel_brake_map_calibrator/scripts/view_plot.py

@@ -56,7 +56,7 @@ def __init__(self, args):
             )
 
         if calibrated_map_dir is None:
-            package_path = get_package_share_directory("accel_brake_map_calibrator")
+            package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
             self.declare_parameter(
                 "/accel_brake_map_calibrator/csv_calibrated_map_dir", package_path + "/config/"
             )
@@ -269,7 +269,7 @@ def main(args=None):
 
 
 if __name__ == "__main__":
-    package_path = get_package_share_directory("accel_brake_map_calibrator")
+    package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "-d", "--default-map-dir", default=None, type=str, help="directory of default map"

vehicle/accel_brake_map_calibrator/scripts/view_statistics.py → vehicle/autoware_accel_brake_map_calibrator/scripts/view_statistics.py

@@ -28,7 +28,7 @@ class ViewPlot(Node):
     def __init__(self):
         super().__init__("statistics_viewer")
         # get parameter
-        package_path = get_package_share_directory("accel_brake_map_calibrator")
+        package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
         self.declare_parameter("log_file", package_path + "/config/log.csv")
         log_file = self.get_parameter("log_file").get_parameter_value().string_value
         self.declare_parameter("velocity_min_threshold", 0.1)

vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp → vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -14,7 +14,7 @@
 // limitations under the License.
 //
 
-#include "accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp"
+#include "autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp"
 
 #include "rclcpp/logging.hpp"
 
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace accel_brake_map_calibrator
+namespace autoware::accel_brake_map_calibrator
 {
 
 AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & node_options)
@@ -305,6 +305,7 @@ void AccelBrakeMapCalibrator::timerCallback()
     // lack of data
     RCLCPP_WARN_STREAM_THROTTLE(
       get_logger(), *get_clock(), 5000, "lack of topics (twist, steer, accel, brake)");
+
     lack_of_data_count_++;
     return;
   }
@@ -1691,4 +1692,4 @@ void AccelBrakeMapCalibrator::addLogToCSV(
             << ", " << new_accel_mse << "," << rmse_rate << std::endl;
 }
 
-}  // namespace accel_brake_map_calibrator
+}  // namespace autoware::accel_brake_map_calibrator

vehicle/accel_brake_map_calibrator/src/main.cpp → vehicle/autoware_accel_brake_map_calibrator/src/main.cpp

@@ -14,15 +14,16 @@
 // limitations under the License.
 //
 
-#include "accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp"
+#include "autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp"
 
 #include <memory>
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions node_options;
-  rclcpp::spin(std::make_shared<accel_brake_map_calibrator::AccelBrakeMapCalibrator>(node_options));
+  rclcpp::spin(
+    std::make_shared<autoware::accel_brake_map_calibrator::AccelBrakeMapCalibrator>(node_options));
   rclcpp::shutdown();
   return 0;
 }

vehicle/accel_brake_map_calibrator/test/plot_csv_client_node.py → vehicle/autoware_accel_brake_map_calibrator/test/plot_csv_client_node.py

@@ -82,7 +82,7 @@ def main(args=None):
 
 
 if __name__ == "__main__":
-    package_path = get_package_share_directory("accel_brake_map_calibrator")
+    package_path = get_package_share_directory("autoware_accel_brake_map_calibrator")
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "-d", "--default-map-dir", default=None, type=str, help="directory of default map"

vehicle/autoware_raw_vehicle_cmd_converter/README.md

@@ -22,7 +22,7 @@ Once the acceleration map is crafted, it should be loaded when the RawVehicleCmd
 
 ### Auto-Calibration Tool
 
-For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found [here](https://github.com/autowarefoundation/autoware.universe/blob/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md).
+For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found [here](https://github.com/autowarefoundation/autoware.universe/blob/main/vehicle/autoware_accel_brake_map_calibrator/README.md).
 
 ## Input topics