diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 5f5d5008c0f1c..4be9f275e1de2 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -148,6 +148,7 @@ perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhon perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @@ -177,7 +178,6 @@ planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei. planning/behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/planning/.pages b/planning/.pages index e355639eb8da5..cdfbf258ded6f 100644 --- a/planning/.pages +++ b/planning/.pages @@ -35,7 +35,7 @@ nav: - 'Stop Line': planning/behavior_velocity_stop_line_module - 'Traffic Light': planning/behavior_velocity_traffic_light_module - 'Virtual Traffic Light': planning/behavior_velocity_virtual_traffic_light_module - - 'Walkway': planning/behavior_velocity_walkway_module + - 'Walkway': planning/autoware_behavior_velocity_walkway_module - 'Parking': - 'Freespace Planner': - 'About Freespace Planner': planning/freespace_planner diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md index a68705e3f73a2..acbca6fd626aa 100644 --- a/planning/autoware_behavior_velocity_planner/README.md +++ b/planning/autoware_behavior_velocity_planner/README.md @@ -9,7 +9,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o - [Blind Spot](../behavior_velocity_blind_spot_module/README.md) - [Crosswalk](../behavior_velocity_crosswalk_module/README.md) -- [Walkway](../behavior_velocity_walkway_module/README.md) +- [Walkway](../autoware_behavior_velocity_walkway_module/README.md) - [Detection Area](../behavior_velocity_detection_area_module/README.md) - [Intersection](../behavior_velocity_intersection_module/README.md) - [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private) diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml index 573d862f1725b..6587d0e9c7e17 100644 --- a/planning/autoware_behavior_velocity_planner/package.xml +++ b/planning/autoware_behavior_velocity_planner/package.xml @@ -79,7 +79,7 @@ behavior_velocity_stop_line_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module - behavior_velocity_walkway_module + autoware_behavior_velocity_walkway_module rosidl_interface_packages diff --git a/planning/behavior_velocity_walkway_module/CMakeLists.txt b/planning/autoware_behavior_velocity_walkway_module/CMakeLists.txt similarity index 86% rename from planning/behavior_velocity_walkway_module/CMakeLists.txt rename to planning/autoware_behavior_velocity_walkway_module/CMakeLists.txt index 351a240743402..11504d9c8999c 100644 --- a/planning/behavior_velocity_walkway_module/CMakeLists.txt +++ b/planning/autoware_behavior_velocity_walkway_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_velocity_walkway_module) +project(autoware_behavior_velocity_walkway_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_velocity_walkway_module/README.md b/planning/autoware_behavior_velocity_walkway_module/README.md similarity index 100% rename from planning/behavior_velocity_walkway_module/README.md rename to planning/autoware_behavior_velocity_walkway_module/README.md diff --git a/planning/behavior_velocity_walkway_module/config/walkway.param.yaml b/planning/autoware_behavior_velocity_walkway_module/config/walkway.param.yaml similarity index 100% rename from planning/behavior_velocity_walkway_module/config/walkway.param.yaml rename to planning/autoware_behavior_velocity_walkway_module/config/walkway.param.yaml diff --git a/planning/behavior_velocity_walkway_module/package.xml b/planning/autoware_behavior_velocity_walkway_module/package.xml similarity index 90% rename from planning/behavior_velocity_walkway_module/package.xml rename to planning/autoware_behavior_velocity_walkway_module/package.xml index 2c72959d6b1d4..4be3ca4edaf65 100644 --- a/planning/behavior_velocity_walkway_module/package.xml +++ b/planning/autoware_behavior_velocity_walkway_module/package.xml @@ -1,9 +1,9 @@ - behavior_velocity_walkway_module + autoware_behavior_velocity_walkway_module 0.1.0 - The behavior_velocity_walkway_module package + The autoware_behavior_velocity_walkway_module package Satoshi Ota Tomoya Kimura diff --git a/planning/autoware_behavior_velocity_walkway_module/plugins.xml b/planning/autoware_behavior_velocity_walkway_module/plugins.xml new file mode 100644 index 0000000000000..d7f9e948154c1 --- /dev/null +++ b/planning/autoware_behavior_velocity_walkway_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_velocity_walkway_module/src/debug.cpp b/planning/autoware_behavior_velocity_walkway_module/src/debug.cpp similarity index 95% rename from planning/behavior_velocity_walkway_module/src/debug.cpp rename to planning/autoware_behavior_velocity_walkway_module/src/debug.cpp index 8814fa8271866..d26a47e512bc4 100644 --- a/planning/behavior_velocity_walkway_module/src/debug.cpp +++ b/planning/autoware_behavior_velocity_walkway_module/src/debug.cpp @@ -22,7 +22,7 @@ #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { using motion_utils::createSlowDownVirtualWallMarker; @@ -34,6 +34,7 @@ using tier4_autoware_utils::createMarkerColor; using tier4_autoware_utils::createMarkerScale; using tier4_autoware_utils::createPoint; using visualization_msgs::msg::Marker; +namespace planning_utils = ::behavior_velocity_planner::planning_utils; namespace { @@ -98,4 +99,4 @@ visualization_msgs::msg::MarkerArray WalkwayModule::createDebugMarkerArray() return debug_marker_array; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_walkway_module/src/manager.cpp b/planning/autoware_behavior_velocity_walkway_module/src/manager.cpp similarity index 88% rename from planning/behavior_velocity_walkway_module/src/manager.cpp rename to planning/autoware_behavior_velocity_walkway_module/src/manager.cpp index d427e57009cf6..aedbddb45b001 100644 --- a/planning/behavior_velocity_walkway_module/src/manager.cpp +++ b/planning/autoware_behavior_velocity_walkway_module/src/manager.cpp @@ -23,11 +23,15 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { using lanelet::autoware::Crosswalk; using tier4_autoware_utils::getOrDeclareParameter; +using ::behavior_velocity_planner::SceneModuleManagerInterface; +namespace planning_utils = ::behavior_velocity_planner::planning_utils; +using ::behavior_velocity_planner::getCrosswalksOnPath; +using ::behavior_velocity_planner::getCrosswalkIdSetOnPath; WalkwayModuleManager::WalkwayModuleManager(rclcpp::Node & node) : SceneModuleManagerInterface(node, getModuleName()) @@ -100,8 +104,8 @@ WalkwayModuleManager::getModuleExpiredFunction(const PathWithLaneId & path) return walkway_id_set.count(scene_module->getModuleId()) == 0; }; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #include PLUGINLIB_EXPORT_CLASS( - behavior_velocity_planner::WalkwayModulePlugin, behavior_velocity_planner::PluginInterface) + autoware::behavior_velocity_planner::WalkwayModulePlugin, ::behavior_velocity_planner::PluginInterface) diff --git a/planning/behavior_velocity_walkway_module/src/manager.hpp b/planning/autoware_behavior_velocity_walkway_module/src/manager.hpp similarity index 86% rename from planning/behavior_velocity_walkway_module/src/manager.hpp rename to planning/autoware_behavior_velocity_walkway_module/src/manager.hpp index 453fcdb40f0db..c37217adf33da 100644 --- a/planning/behavior_velocity_walkway_module/src/manager.hpp +++ b/planning/autoware_behavior_velocity_walkway_module/src/manager.hpp @@ -31,9 +31,11 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { - +using ::behavior_velocity_planner::PluginWrapper; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::SceneModuleManagerInterface; using autoware_auto_planning_msgs::msg::PathWithLaneId; class WalkwayModuleManager : public SceneModuleManagerInterface @@ -56,6 +58,6 @@ class WalkwayModulePlugin : public PluginWrapper { }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // MANAGER_HPP_ diff --git a/planning/behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp similarity index 91% rename from planning/behavior_velocity_walkway_module/src/scene_walkway.cpp rename to planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 4a777d49f4fe6..9cc7425b8b981 100644 --- a/planning/behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -19,7 +19,7 @@ #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; using motion_utils::calcLongitudinalOffsetPose; @@ -27,6 +27,14 @@ using motion_utils::calcSignedArcLength; using motion_utils::findNearestSegmentIndex; using tier4_autoware_utils::createPoint; using tier4_autoware_utils::getPose; +using ::behavior_velocity_planner::PlanningBehavior; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::StopFactor; +using ::behavior_velocity_planner::VelocityFactor; +using ::behavior_velocity_planner::getStopLineFromMap; +using ::behavior_velocity_planner::getLinestringIntersects; +using ::behavior_velocity_planner::getPolygonIntersects; +namespace planning_utils = ::behavior_velocity_planner::planning_utils; WalkwayModule::WalkwayModule( const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr, @@ -165,4 +173,4 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ return true; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_walkway_module/src/scene_walkway.hpp b/planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp similarity index 88% rename from planning/behavior_velocity_walkway_module/src/scene_walkway.hpp rename to planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp index c372a5835f795..1928466400134 100644 --- a/planning/behavior_velocity_walkway_module/src/scene_walkway.hpp +++ b/planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp @@ -31,8 +31,12 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { +using ::behavior_velocity_planner::DebugData; +using ::behavior_velocity_planner::PathWithLaneId; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::StopReason; class WalkwayModule : public SceneModuleInterface { @@ -77,6 +81,6 @@ class WalkwayModule : public SceneModuleInterface // flag to use regulatory element const bool use_regulatory_element_; }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // SCENE_WALKWAY_HPP_ diff --git a/planning/behavior_velocity_walkway_module/plugins.xml b/planning/behavior_velocity_walkway_module/plugins.xml deleted file mode 100644 index 971a49f2cb044..0000000000000 --- a/planning/behavior_velocity_walkway_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - -