refactor(static_centerline_generator): change the package name from s…

…tatic_centerline_optimizer (#6795) static_centerline_optimizer -> static_centerline_generator Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Apr 12, 2024 · fd032e8 · fd032e8
1 parent 682a814
commit fd032e8
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -205,7 +205,7 @@ planning/sampling_based_planner/frenet_planner/** [email protected]
 planning/sampling_based_planner/path_sampler/** [email protected]
 planning/sampling_based_planner/sampler_common/** [email protected]
 planning/scenario_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/static_centerline_optimizer/** [email protected] [email protected]
+planning/static_centerline_generator/** [email protected] [email protected]
 planning/surround_obstacle_checker/** [email protected]
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/image_diagnostics/** [email protected]

diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
@@ -61,7 +61,7 @@ def generate_test_description():
         LaunchDescription(
             [
                 map_projection_loader_node,
-                # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
+                # Start test after 1s - gives time for the static_centerline_generator to finish initialization
                 launch.actions.TimerAction(
                     period=1.0, actions=[launch_testing.actions.ReadyToTest()]
                 ),

diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py
@@ -61,7 +61,7 @@ def generate_test_description():
         LaunchDescription(
             [
                 map_projection_loader_node,
-                # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
+                # Start test after 1s - gives time for the static_centerline_generator to finish initialization
                 launch.actions.TimerAction(
                     period=1.0, actions=[launch_testing.actions.ReadyToTest()]
                 ),

diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
@@ -61,7 +61,7 @@ def generate_test_description():
         LaunchDescription(
             [
                 map_projection_loader_node,
-                # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
+                # Start test after 1s - gives time for the static_centerline_generator to finish initialization
                 launch.actions.TimerAction(
                     period=1.0, actions=[launch_testing.actions.ReadyToTest()]
                 ),

diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
@@ -61,7 +61,7 @@ def generate_test_description():
         LaunchDescription(
             [
                 map_projection_loader_node,
-                # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
+                # Start test after 1s - gives time for the static_centerline_generator to finish initialization
                 launch.actions.TimerAction(
                     period=1.0, actions=[launch_testing.actions.ReadyToTest()]
                 ),

diff --git a/planning/.pages b/planning/.pages
@@ -67,7 +67,7 @@ nav:
       - 'About Motion Velocity Smoother': planning/motion_velocity_smoother
       - 'About Motion Velocity Smoother (Japanese)': planning/motion_velocity_smoother/README.ja
   - 'Scenario Selector': planning/scenario_selector
-  - 'Static Centerline Optimizer': planning/static_centerline_optimizer
+  - 'Static Centerline Generator': planning/static_centerline_generator
   - 'API and Library':
     - 'Costmap Generator': planning/costmap_generator
     - 'External Velocity Limit Selector': planning/external_velocity_limit_selector

diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
@@ -39,12 +39,12 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
 public:
   explicit ObstacleAvoidancePlanner(const rclcpp::NodeOptions & node_options);
 
-  // NOTE: This is for the static_centerline_optimizer package which utilizes the following
+  // NOTE: This is for the static_centerline_generator package which utilizes the following
   // instance.
   std::shared_ptr<MPTOptimizer> getMPTOptimizer() const { return mpt_optimizer_ptr_; }
 
   // private:
-protected:  // for the static_centerline_optimizer package
+protected:  // for the static_centerline_generator package
   // TODO(murooka) move this node to common
   class DrivingDirectionChecker
   {

diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp
@@ -38,7 +38,7 @@ class ElasticBandSmoother : public rclcpp::Node
 public:
   explicit ElasticBandSmoother(const rclcpp::NodeOptions & node_options);
 
-  // NOTE: This is for the static_centerline_optimizer package which utilizes the following
+  // NOTE: This is for the static_centerline_generator package which utilizes the following
   // instance.
   std::shared_ptr<EBPathSmoother> getElasticBandSmoother() const { return eb_path_smoother_ptr_; }
 

diff --git a/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp b/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp
@@ -37,7 +37,7 @@ class PathSampler : public rclcpp::Node
 public:
   explicit PathSampler(const rclcpp::NodeOptions & node_options);
 
-protected:  // for the static_centerline_optimizer package
+protected:  // for the static_centerline_generator package
   // argument variables
   vehicle_info_util::VehicleInfo vehicle_info_{};
   mutable DebugData debug_data_{};

diff --git a/...tatic_centerline_optimizer/CMakeLists.txt → ...tatic_centerline_generator/CMakeLists.txt b/...tatic_centerline_optimizer/CMakeLists.txt → ...tatic_centerline_generator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(static_centerline_optimizer)
+project(static_centerline_generator)
 
 find_package(autoware_cmake REQUIRED)
 
@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-  static_centerline_optimizer
+  static_centerline_generator
   "srv/LoadMap.srv"
   "srv/PlanRoute.srv"
   "srv/PlanPath.srv"
@@ -21,18 +21,18 @@ autoware_package()
 
 ament_auto_add_executable(main
   src/main.cpp
-  src/static_centerline_optimizer_node.cpp
+  src/static_centerline_generator_node.cpp
   src/centerline_source/optimization_trajectory_based_centerline.cpp
   src/centerline_source/bag_ego_trajectory_based_centerline.cpp
   src/utils.cpp
 )
 
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(main
-    static_centerline_optimizer "rosidl_typesupport_cpp")
+    static_centerline_generator "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target static_centerline_optimizer "rosidl_typesupport_cpp")
+            cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
     target_link_libraries(main "${cpp_typesupport_target}")
 endif()
 
@@ -45,7 +45,7 @@ ament_auto_package(
 
 if(BUILD_TESTING)
   add_launch_test(
-    test/test_static_centerline_optimizer.test.py
+    test/test_static_centerline_generator.test.py
     TIMEOUT "30"
   )
   install(DIRECTORY

diff --git a/...ing/static_centerline_optimizer/README.md → ...ing/static_centerline_generator/README.md b/...ing/static_centerline_optimizer/README.md → ...ing/static_centerline_generator/README.md
@@ -1,4 +1,4 @@
-# Static Centerline Optimizer
+# Static Centerline Generator
 
 ## Purpose
 
@@ -34,7 +34,7 @@ We can run
 with the following command by designating `<vehicle_model>`
 
 ```sh
-ros2 launch static_centerline_optimizer run_planning_server.launch.xml vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
 ```
 
 FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
 - `<vehicle-model>`
 
 ```sh
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
 ```
 
 The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

diff --git a/...erline_optimizer/config/common.param.yaml → ...erline_generator/config/common.param.yaml b/...erline_optimizer/config/common.param.yaml → ...erline_generator/config/common.param.yaml
diff --git a/...ptimizer/config/nearest_search.param.yaml → ...enerator/config/nearest_search.param.yaml b/...ptimizer/config/nearest_search.param.yaml → ...enerator/config/nearest_search.param.yaml
diff --git a/...ig/static_centerline_optimizer.param.yaml → ...ig/static_centerline_generator.param.yaml b/...ig/static_centerline_optimizer.param.yaml → ...ig/static_centerline_generator.param.yaml
diff --git a/..._optimizer/config/vehicle_info.param.yaml → ..._generator/config/vehicle_info.param.yaml b/..._optimizer/config/vehicle_info.param.yaml → ..._generator/config/vehicle_info.param.yaml
diff --git a/...e/bag_ego_trajectory_based_centerline.hpp → ...e/bag_ego_trajectory_based_centerline.hpp b/...e/bag_ego_trajectory_based_centerline.hpp → ...e/bag_ego_trajectory_based_centerline.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
diff --git a/...imization_trajectory_based_centerline.hpp → ...imization_trajectory_based_centerline.hpp b/...imization_trajectory_based_centerline.hpp → ...imization_trajectory_based_centerline.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 class OptimizationTrajectoryBasedCenterline
 {
@@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline
   rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
   rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
 };
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 // clang-format off
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 // clang-format on
diff --git a/...izer/static_centerline_optimizer_node.hpp → ...ator/static_centerline_generator_node.hpp b/...izer/static_centerline_optimizer_node.hpp → ...ator/static_centerline_generator_node.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp"
-#include "static_centerline_optimizer/srv/load_map.hpp"
-#include "static_centerline_optimizer/srv/plan_path.hpp"
-#include "static_centerline_optimizer/srv/plan_route.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/srv/load_map.hpp"
+#include "static_centerline_generator/srv/plan_path.hpp"
+#include "static_centerline_generator/srv/plan_route.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <geography_utils/lanelet2_projector.hpp>
@@ -34,22 +34,22 @@
 #include <utility>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
-using static_centerline_optimizer::srv::LoadMap;
-using static_centerline_optimizer::srv::PlanPath;
-using static_centerline_optimizer::srv::PlanRoute;
+using static_centerline_generator::srv::LoadMap;
+using static_centerline_generator::srv::PlanPath;
+using static_centerline_generator::srv::PlanRoute;
 
 struct CenterlineWithRoute
 {
   std::vector<TrajectoryPoint> centerline{};
   std::vector<lanelet::Id> route_lane_ids{};
 };
 
-class StaticCenterlineOptimizerNode : public rclcpp::Node
+class StaticCenterlineGeneratorNode : public rclcpp::Node
 {
 public:
-  explicit StaticCenterlineOptimizerNode(const rclcpp::NodeOptions & node_options);
+  explicit StaticCenterlineGeneratorNode(const rclcpp::NodeOptions & node_options);
   void run();
 
 private:
@@ -115,5 +115,5 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node
   // vehicle info
   vehicle_info_util::VehicleInfo vehicle_info_;
 };
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
diff --git a/...tatic_centerline_optimizer/type_alias.hpp → ...tatic_centerline_generator/type_alias.hpp b/...tatic_centerline_optimizer/type_alias.hpp → ...tatic_centerline_generator/type_alias.hpp
@@ -11,8 +11,8 @@
 // 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.
-#ifndef STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
 
 #include "route_handler/route_handler.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -26,7 +26,7 @@
 #include "autoware_planning_msgs/msg/lanelet_route.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Point2d;
 using visualization_msgs::msg::MarkerArray;
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
diff --git a/...ude/static_centerline_optimizer/utils.hpp → ...ude/static_centerline_generator/utils.hpp b/...ude/static_centerline_optimizer/utils.hpp → ...ude/static_centerline_generator/utils.hpp
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
 
 #include "route_handler/route_handler.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <rclcpp/time.hpp>
 
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace utils
 {
@@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker(
   const geometry_msgs::msg::Pose & pose, const double dist,
   const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
 }  // namespace utils
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
diff --git a/...zer/launch/run_planning_server.launch.xml → ...tor/launch/run_planning_server.launch.xml b/...zer/launch/run_planning_server.launch.xml → ...tor/launch/run_planning_server.launch.xml
@@ -2,11 +2,11 @@
   <!-- mandatory arguments for planning-->
   <arg name="vehicle_model"/>
 
-  <include file="$(find-pkg-share static_centerline_optimizer)/launch/static_centerline_optimizer.launch.xml">
+  <include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="run_background" value="true"/>
   </include>
 
   <!-- local server to connect path optimizer and cloud software -->
-  <node pkg="static_centerline_optimizer" exec="app.py" name="static_centerline_optimizer_http_server" output="screen"/>
+  <node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
 </launch>
diff --git a/...ch/static_centerline_optimizer.launch.xml → ...ch/static_centerline_generator.launch.xml b/...ch/static_centerline_optimizer.launch.xml → ...ch/static_centerline_generator.launch.xml
@@ -55,7 +55,7 @@
   </node>
 
   <!-- optimize path -->
-  <node pkg="static_centerline_optimizer" exec="main" name="static_centerline_optimizer">
+  <node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
     <remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
     <remap from="input_centerline" to="~/input_centerline"/>
     <remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
     <param from="$(var obstacle_avoidance_planner_param)"/>
     <param from="$(var mission_planner_param)"/>
     <!-- node param -->
-    <param from="$(find-pkg-share static_centerline_optimizer)/config/static_centerline_optimizer.param.yaml"/>
+    <param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
     <param name="centerline_source" value="$(var centerline_source)"/>
     <param name="bag_filename" value="$(var bag_filename)"/>
   </node>
 
   <!-- rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_optimizer)/rviz/static_centerline_optimizer.rviz" if="$(var rviz)"/>
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
 </launch>
diff --git a/...tatic_centerline_optimizer/media/rviz.png → ...tatic_centerline_generator/media/rviz.png b/...tatic_centerline_optimizer/media/rviz.png → ...tatic_centerline_generator/media/rviz.png
diff --git a/...ine_optimizer/media/unsafe_footprints.png → ...ine_generator/media/unsafe_footprints.png b/...ine_optimizer/media/unsafe_footprints.png → ...ine_generator/media/unsafe_footprints.png
diff --git a/...erline_optimizer/msg/PointsWithLaneId.msg → ...erline_generator/msg/PointsWithLaneId.msg b/...erline_optimizer/msg/PointsWithLaneId.msg → ...erline_generator/msg/PointsWithLaneId.msg
diff --git a/...g/static_centerline_optimizer/package.xml → ...g/static_centerline_generator/package.xml b/...g/static_centerline_optimizer/package.xml → ...g/static_centerline_generator/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>static_centerline_optimizer</name>
+  <name>static_centerline_generator</name>
   <version>0.1.0</version>
-  <description>The static_centerline_optimizer package</description>
+  <description>The static_centerline_generator package</description>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
   <license>Apache License 2.0</license>