feat(autonomous_emergency_braking): prefix package and namespace with autoware_

.github/CODEOWNERS

@@ -44,7 +44,7 @@ common/time_utils/** [email protected] [email protected] tomo
 common/traffic_light_recognition_marker_publisher/** [email protected] [email protected] [email protected]
 common/traffic_light_utils/** [email protected] [email protected] [email protected]
 common/tvm_utility/** [email protected] [email protected]
-control/autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected]
+control/autoware_autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected]
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/external_cmd_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

control/autonomous_emergency_braking/CMakeLists.txt → control/autoware_autonomous_emergency_braking/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(autonomous_emergency_braking)
+project(autoware_autonomous_emergency_braking)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -18,7 +18,7 @@ ament_auto_add_library(${AEB_NODE} SHARED
 )
 
 rclcpp_components_register_node(${AEB_NODE}
-  PLUGIN "autoware::motion::control::autonomous_emergency_braking::AEB"
+  PLUGIN "autoware::motion::control::autoware_autonomous_emergency_braking::AEB"
   EXECUTABLE ${PROJECT_NAME}
 )
 

control/autonomous_emergency_braking/README.md → control/autoware_autonomous_emergency_braking/README.md

@@ -2,7 +2,7 @@
 
 ## Purpose / Role
 
-`autonomous_emergency_braking` is a module that prevents collisions with obstacles on the predicted path created by a control module or sensor values estimated from the control module.
+`autoware_autonomous_emergency_braking` is a module that prevents collisions with obstacles on the predicted path created by a control module or sensor values estimated from the control module.
 
 ### Assumptions
 

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp → control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
-#define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#ifndef AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#define AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
@@ -49,7 +49,7 @@
 #include <string>
 #include <utility>
 #include <vector>
-namespace autoware::motion::control::autonomous_emergency_braking
+namespace autoware::motion::control::autoware_autonomous_emergency_braking
 {
 
 using autoware_planning_msgs::msg::Trajectory;
@@ -338,6 +338,6 @@ class AEB : public rclcpp::Node
   // Parameter callback
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
 };
-}  // namespace autoware::motion::control::autonomous_emergency_braking
+}  // namespace autoware::motion::control::autoware_autonomous_emergency_braking
 
-#endif  // AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#endif  // AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_

control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml → control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml

@@ -1,12 +1,12 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autoware_autonomous_emergency_braking.param.yaml"/>
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
   <arg name="input_imu" default="/sensing/imu/imu_data"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
 
-  <node pkg="autonomous_emergency_braking" exec="autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
+  <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autoware_autonomous_emergency_braking" output="screen">
     <!-- load config files -->
     <param from="$(var param_path)"/>
     <!-- remap topic name -->

control/autonomous_emergency_braking/package.xml → control/autoware_autonomous_emergency_braking/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>autonomous_emergency_braking</name>
+  <name>autoware_autonomous_emergency_braking</name>
   <version>0.1.0</version>
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>

control/autonomous_emergency_braking/src/node.cpp → control/autoware_autonomous_emergency_braking/src/node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autonomous_emergency_braking/node.hpp"
+#include "autoware_autonomous_emergency_braking/node.hpp"
 
 #include <pcl_ros/transforms.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -44,7 +44,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace autoware::motion::control::autonomous_emergency_braking
+namespace autoware::motion::control::autoware_autonomous_emergency_braking
 {
 using diagnostic_msgs::msg::DiagnosticStatus;
 namespace bg = boost::geometry;
@@ -113,7 +113,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
   }
   // Diagnostics
   {
-    updater_.setHardwareID("autonomous_emergency_braking");
+    updater_.setHardwareID("autoware_autonomous_emergency_braking");
     updater_.add("aeb_emergency_stop", this, &AEB::onCheckCollision);
   }
   // parameter
@@ -736,7 +736,8 @@ void AEB::addCollisionMarker(const ObjectData & data, MarkerArray & debug_marker
   debug_markers.markers.push_back(point_marker);
 }
 
-}  // namespace autoware::motion::control::autonomous_emergency_braking
+}  // namespace autoware::motion::control::autoware_autonomous_emergency_braking
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion::control::autonomous_emergency_braking::AEB)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::motion::control::autoware_autonomous_emergency_braking::AEB)

evaluator/control_evaluator/src/control_evaluator_node.cpp

@@ -45,7 +45,7 @@ DiagnosticStatus controlEvaluatorNode::generateDiagnosticStatus(const bool is_em
 {
   DiagnosticStatus status;
   status.level = status.OK;
-  status.name = "autonomous_emergency_braking";
+  status.name = "autoware_autonomous_emergency_braking";
   diagnostic_msgs::msg::KeyValue key_value;
   key_value.key = "decision";
   key_value.value = (is_emergency_brake) ? "stop" : "none";
@@ -66,7 +66,8 @@ void controlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr d
   const auto start = now();
   const auto aeb_status =
     std::find_if(diag_msg->status.begin(), diag_msg->status.end(), [](const auto & status) {
-      const bool aeb_found = status.name.find("autonomous_emergency_braking") != std::string::npos;
+      const bool aeb_found =
+        status.name.find("autoware_autonomous_emergency_braking") != std::string::npos;
       return aeb_found;
     });
 

launch/tier4_control_launch/launch/control.launch.py

@@ -138,9 +138,9 @@ def launch_setup(context, *args, **kwargs):
     )
 
     # autonomous emergency braking
-    autonomous_emergency_braking = ComposableNode(
-        package="autonomous_emergency_braking",
-        plugin="autoware::motion::control::autonomous_emergency_braking::AEB",
+    autoware_autonomous_emergency_braking = ComposableNode(
+        package="autoware_autonomous_emergency_braking",
+        plugin="autoware::motion::control::autoware_autonomous_emergency_braking::AEB",
         name="autonomous_emergency_braking",
         remappings=[
             ("~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud"),
@@ -158,9 +158,9 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    autonomous_emergency_braking_loader = LoadComposableNodes(
+    autoware_autonomous_emergency_braking_loader = LoadComposableNodes(
         condition=IfCondition(LaunchConfiguration("enable_autonomous_emergency_braking")),
-        composable_node_descriptions=[autonomous_emergency_braking],
+        composable_node_descriptions=[autoware_autonomous_emergency_braking],
         target_container="/control/control_container",
     )
 
@@ -405,7 +405,7 @@ def launch_setup(context, *args, **kwargs):
             external_cmd_selector_loader,
             external_cmd_converter_loader,
             obstacle_collision_checker_loader,
-            autonomous_emergency_braking_loader,
+            autoware_autonomous_emergency_braking_loader,
             predicted_path_checker_loader,
             control_evaluator_loader,
         ]

system/system_diagnostic_monitor/config/control.yaml

@@ -39,7 +39,7 @@ units:
 
   - path: /autoware/control/emergency_braking
     type: diag
-    node: autonomous_emergency_braking
+    node: autoware_autonomous_emergency_braking
     name: aeb_emergency_stop
 
   - path: /autoware/control/performance_monitoring/lane_departure

system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml

@@ -4,9 +4,9 @@
       type: diagnostic_aggregator/AnalyzerGroup
       path: control
       analyzers:
-        autonomous_emergency_braking:
+        autoware_autonomous_emergency_braking:
           type: diagnostic_aggregator/AnalyzerGroup
-          path: autonomous_emergency_braking
+          path: autoware_autonomous_emergency_braking
           analyzers:
             performance_monitoring:
               type: diagnostic_aggregator/AnalyzerGroup

system/system_error_monitor/config/system_error_monitor.param.yaml

@@ -20,7 +20,7 @@
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
@@ -45,7 +45,7 @@
 
       external_control:
         /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
         /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
 
         /autoware/system/node_alive_monitoring: default

system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml

@@ -20,7 +20,7 @@
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
 
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
@@ -46,7 +46,7 @@
 
       external_control:
         /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
         /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
 
         /autoware/system/node_alive_monitoring: default