refactor(route_handler): route handler add autoware prefix

.github/CODEOWNERS

@@ -196,7 +196,7 @@ planning/obstacle_velocity_limiter/** [email protected]
 planning/autoware_path_smoother/** [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected] [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
-planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/rtc_interface/** [email protected] [email protected] [email protected] [email protected]
 planning/rtc_replayer/** [email protected] [email protected]
 planning/sampling_based_planner/autoware_bezier_sampler/** [email protected]

planning/.pages

@@ -75,7 +75,7 @@ nav:
     - 'Costmap Generator': planning/costmap_generator
     - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector
     - 'Objects of Interest Marker Interface': planning/autoware_objects_of_interest_marker_interface
-    - 'Route Handler': planning/route_handler
+    - 'Route Handler': planning/autoware_route_handler
     - 'RTC Interface': planning/autoware_rtc_interface
   - 'Additional Tools':
     - 'Remaining Distance Time Calculator': planning/autoware_remaining_distance_time_calculator

planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp

@@ -22,8 +22,8 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware::route_handler::Direction;
 using ::behavior_path_planner::State;
-using ::route_handler::Direction;
 
 AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::string & name, rclcpp::Node & node,

planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp

@@ -31,14 +31,13 @@ namespace autoware::behavior_path_planner
 using ::behavior_path_planner::LaneChangeModuleManager;
 using ::behavior_path_planner::LaneChangeModuleType;
 using ::behavior_path_planner::SceneModuleInterface;
-using ::route_handler::Direction;
 
 class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 {
 public:
   AvoidanceByLaneChangeModuleManager()
   : LaneChangeModuleManager(
-      "avoidance_by_lane_change", route_handler::Direction::NONE,
+      "avoidance_by_lane_change", autoware::route_handler::Direction::NONE,
       LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE)
   {
   }

planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp

@@ -16,7 +16,7 @@
 #define MANAGER_HPP_
 
 #include "autoware_behavior_path_lane_change_module/manager.hpp"
-#include "route_handler/route_handler.hpp"
+#include "autoware_route_handler/route_handler.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/manager.hpp

@@ -17,7 +17,7 @@
 
 #include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
-#include "route_handler/route_handler.hpp"
+#include "autoware_route_handler/route_handler.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -27,7 +27,7 @@
 
 namespace behavior_path_planner
 {
-using route_handler::Direction;
+using autoware::route_handler::Direction;
 
 class LaneChangeModuleManager : public SceneModuleManagerInterface
 {
@@ -58,8 +58,7 @@ class LaneChangeRightModuleManager : public LaneChangeModuleManager
 {
 public:
   LaneChangeRightModuleManager()
-  : LaneChangeModuleManager(
-      "lane_change_right", route_handler::Direction::RIGHT, LaneChangeModuleType::NORMAL)
+  : LaneChangeModuleManager("lane_change_right", Direction::RIGHT, LaneChangeModuleType::NORMAL)
   {
   }
 };
@@ -68,8 +67,7 @@ class LaneChangeLeftModuleManager : public LaneChangeModuleManager
 {
 public:
   LaneChangeLeftModuleManager()
-  : LaneChangeModuleManager(
-      "lane_change_left", route_handler::Direction::LEFT, LaneChangeModuleType::NORMAL)
+  : LaneChangeModuleManager("lane_change_left", Direction::LEFT, LaneChangeModuleType::NORMAL)
   {
   }
 };

planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/scene.hpp

@@ -23,6 +23,7 @@
 
 namespace behavior_path_planner
 {
+using autoware::route_handler::Direction;
 using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebugMap;
 using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject;
@@ -33,7 +34,6 @@ using data::lane_change::LanesPolygon;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using route_handler::Direction;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using utils::path_safety_checker::ExtendedPredictedObjects;
 

planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/base_class.hpp

@@ -36,11 +36,11 @@
 
 namespace behavior_path_planner
 {
+using autoware::route_handler::Direction;
 using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using route_handler::Direction;
 using tier4_autoware_utils::StopWatch;
 using tier4_planning_msgs::msg::PathWithLaneId;
 

planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/utils/utils.hpp

@@ -22,7 +22,7 @@
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
 #include "rclcpp/logger.hpp"
 
-#include <route_handler/route_handler.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -38,6 +38,7 @@
 
 namespace behavior_path_planner::utils::lane_change
 {
+using autoware::route_handler::Direction;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
@@ -51,7 +52,6 @@ using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 using path_safety_checker::CollisionCheckDebugMap;
-using route_handler::Direction;
 using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 

planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp

@@ -57,10 +57,10 @@
 
 namespace behavior_path_planner::utils::lane_change
 {
+using autoware::route_handler::RouteHandler;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
 using geometry_msgs::msg::Pose;
-using route_handler::RouteHandler;
 using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;

planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/data_manager.hpp

@@ -20,11 +20,11 @@
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 
+#include <autoware_route_handler/route_handler.hpp>
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp/clock.hpp>
 #include <rclcpp/rclcpp/time.hpp>
-#include <route_handler/route_handler.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -50,6 +50,7 @@
 
 namespace behavior_path_planner
 {
+using autoware::route_handler::RouteHandler;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -61,7 +62,6 @@ using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
-using route_handler::RouteHandler;
 using tier4_planning_msgs::msg::LateralOffset;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using PlanResult = PathWithLaneId::SharedPtr;

planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp

@@ -23,13 +23,13 @@
 #include <autoware_behavior_path_planner_common/interface/steering_factor_interface.hpp>
 #include <autoware_behavior_path_planner_common/turn_signal_decider.hpp>
 #include <autoware_objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 #include <autoware_rtc_interface/rtc_interface.hpp>
 #include <magic_enum.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>

planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/turn_signal_decider.hpp

@@ -19,8 +19,8 @@
 
 #include <autoware_behavior_path_planner_common/parameters.hpp>
 #include <autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
-#include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
@@ -42,12 +42,12 @@
 
 namespace behavior_path_planner
 {
+using autoware::route_handler::RouteHandler;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
-using route_handler::RouteHandler;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 const std::map<std::string, uint8_t> g_signal_map = {

planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp

@@ -19,7 +19,7 @@
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/types.hpp"
 
-#include <route_handler/route_handler.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 
 #include <lanelet2_core/Forward.h>
 

planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/utils.hpp

@@ -18,7 +18,7 @@
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 
-#include <route_handler/route_handler.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
@@ -46,10 +46,10 @@ using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
 
+using autoware::route_handler::RouteHandler;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Vector3;
-using route_handler::RouteHandler;
 using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
@@ -327,7 +327,7 @@ lanelet::ConstLanelets calcLaneAroundPose(
 bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold);
 
 lanelet::ConstLanelets getLaneletsFromPath(
-  const PathWithLaneId & path, const std::shared_ptr<route_handler::RouteHandler> & route_handler);
+  const PathWithLaneId & path, const std::shared_ptr<RouteHandler> & route_handler);
 
 std::string convertToSnakeCase(const std::string & input_str);
 

planning/autoware_behavior_path_planner_common/package.xml

@@ -48,6 +48,7 @@
   <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
@@ -57,7 +58,6 @@
   <depend>motion_utils</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>tf2</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>

planning/autoware_behavior_path_planner_common/src/utils/utils.cpp

@@ -1607,7 +1607,7 @@ bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_thre
 }
 
 lanelet::ConstLanelets getLaneletsFromPath(
-  const PathWithLaneId & path, const std::shared_ptr<route_handler::RouteHandler> & route_handler)
+  const PathWithLaneId & path, const std::shared_ptr<RouteHandler> & route_handler)
 {
   std::vector<int64_t> unique_lanelet_ids;
   for (const auto & p : path.points) {

planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp

@@ -179,56 +179,57 @@
   autoware_map_msgs::msg::LaneletMapBin map;
   lanelet::LaneletMapPtr empty_lanelet_map_ptr = std::make_shared<lanelet::LaneletMap>();
   lanelet::utils::conversion::toBinMsg(empty_lanelet_map_ptr, &map);
-  route_handler::RouteHandler route_handler(map);
+  autoware::route_handler::RouteHandler route_handler(map);
   lanelet::ConstLanelets path_lanes = {};
   drivable_area_expansion::PathWithLaneId path;
   {  // Simple path with Y=0 and X = 0, 1, 2
     drivable_area_expansion::PathWithLaneId::_points_type::value_type p;
     p.point.pose.position.x = 0.0;
     p.point.pose.position.y = 0.0;
     path.points.push_back(p);
     p.point.pose.position.x = 1.0;
     path.points.push_back(p);
     p.point.pose.position.x = 2.0;
     path.points.push_back(p);
   }
   {  // Left bound at Y = 1, Right bound at Y = -1
     drivable_area_expansion::Point pl;
     drivable_area_expansion::Point pr;
     pl.y = 1.0;
     pr.y = -1.0;
     pl.x = 0.0;
     pr.x = 0.0;
     path.left_bound.push_back(pl);
     path.right_bound.push_back(pr);
     pl.x = 1.0;
     pr.x = 1.0;
     path.left_bound.push_back(pl);
     path.right_bound.push_back(pr);
     pl.x = 2.0;
     pr.x = 2.0;
     path.left_bound.push_back(pl);
     path.right_bound.push_back(pr);
   }
   {  // parameters
     params.enabled = true;
     params.avoid_dynamic_objects = false;
     params.avoid_linestring_dist = 0.0;
     params.avoid_linestring_types = {};
     params.max_expansion_distance = 0.0;  // means no limit
     params.max_path_arc_length = 0.0;     // means no limit
     params.resample_interval = 1.0;
     // 2m x 4m ego footprint
     params.vehicle_info.front_overhang_m = 0.0;
     params.vehicle_info.wheel_base_m = 2.0;
     params.vehicle_info.vehicle_width_m = 2.0;
   }
   behavior_path_planner::PlannerData planner_data;
   planner_data.drivable_area_expansion_parameters = params;
   planner_data.dynamic_object =
     std::make_shared<drivable_area_expansion::PredictedObjects>(dynamic_objects);
   planner_data.self_odometry = std::make_shared<nav_msgs::msg::Odometry>();
-  planner_data.route_handler = std::make_shared<route_handler::RouteHandler>(route_handler);
+  planner_data.route_handler =
+    std::make_shared<autoware::route_handler::RouteHandler>(route_handler);
   drivable_area_expansion::expand_drivable_area(
     path, std::make_shared<behavior_path_planner::PlannerData>(planner_data));
   // unchanged path points

planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/util.hpp

@@ -21,7 +21,7 @@
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "autoware_behavior_path_start_planner_module/pull_out_path.hpp"
 
-#include <route_handler/route_handler.hpp>
+#include <autoware_route_handler/route_handler.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
@@ -36,12 +36,12 @@
 
 namespace behavior_path_planner::start_planner_utils
 {
+using autoware::route_handler::RouteHandler;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
 using behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using route_handler::RouteHandler;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 PathWithLaneId getBackwardPath(

planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp

@@ -35,8 +35,8 @@
 namespace behavior_path_planner
 {
 
+using autoware::route_handler::Direction;
 using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
-using route_handler::Direction;
 
 enum class ObjectInfo {
   NONE = 0,

planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml

@@ -24,6 +24,7 @@
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>behavior_path_planner</depend>
@@ -33,7 +34,6 @@
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>
   <depend>tf2</depend>