refactor(route_handler): route handler add autoware prefix

.github/CODEOWNERS

@@ -191,7 +191,7 @@ planning/path_smoother/** [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected] [email protected] [email protected]
 planning/autoware_planning_topic_converter/** [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/bezier_sampler/** [email protected]

planning/.pages

@@ -76,7 +76,7 @@ nav:
     - 'Costmap Generator': planning/costmap_generator
     - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector
     - 'Objects of Interest Marker Interface': planning/objects_of_interest_marker_interface
-    - 'Route Handler': planning/route_handler
+    - 'Route Handler': planning/autoware_route_handler
     - 'RTC Interface': planning/rtc_interface
   - 'Additional Tools':
     - 'Remaining Distance Time Calculator': planning/autoware_remaining_distance_time_calculator

planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp

@@ -15,8 +15,8 @@
 #ifndef MANAGER_HPP_
 #define MANAGER_HPP_
 
+#include "autoware_route_handler/route_handler.hpp"
 #include "behavior_path_lane_change_module/manager.hpp"
-#include "route_handler/route_handler.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

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

@@ -22,13 +22,13 @@
 
 #include <autoware_behavior_path_planner_common/interface/steering_factor_interface.hpp>
 #include <autoware_behavior_path_planner_common/turn_signal_decider.hpp>
+#include <autoware_route_handler/route_handler.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 <objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <route_handler/route_handler.hpp>
 #include <rtc_interface/rtc_interface.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_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

@@ -45,6 +45,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>freespace_planning_algorithms</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -55,7 +56,6 @@
   <depend>object_recognition_utils</depend>
   <depend>objects_of_interest_marker_interface</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>rtc_interface</depend>
   <depend>tf2</depend>
   <depend>tier4_autoware_utils</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_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

@@ -23,6 +23,7 @@
 
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -31,7 +32,6 @@
   <depend>objects_of_interest_marker_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>rtc_interface</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>

planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp

@@ -18,6 +18,7 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 
+using autoware::route_handler::Direction;
 using behavior_path_planner::ObjectData;
 using behavior_path_planner::utils::static_obstacle_avoidance::isOnRight;
 using behavior_path_planner::utils::static_obstacle_avoidance::isSameDirectionShift;
@@ -26,31 +27,31 @@ using behavior_path_planner::utils::static_obstacle_avoidance::isShiftNecessary;
 TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest)
 {
   ObjectData right_obj;
-  right_obj.direction = route_handler::Direction::RIGHT;
+  right_obj.direction = Direction::RIGHT;
   const double negative_shift_length = -1.0;
   const double positive_shift_length = 1.0;
 
   ASSERT_TRUE(isSameDirectionShift(isOnRight(right_obj), negative_shift_length));
   ASSERT_FALSE(isSameDirectionShift(isOnRight(right_obj), positive_shift_length));
 
   ObjectData left_obj;
-  left_obj.direction = route_handler::Direction::LEFT;
+  left_obj.direction = Direction::LEFT;
   ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length));
   ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length));
 }
 
 TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest)
 {
   ObjectData right_obj;
-  right_obj.direction = route_handler::Direction::RIGHT;
+  right_obj.direction = Direction::RIGHT;
   const double negative_shift_length = -1.0;
   const double positive_shift_length = 1.0;
 
   ASSERT_TRUE(isShiftNecessary(isOnRight(right_obj), positive_shift_length));
   ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length));
 
   ObjectData left_obj;
-  left_obj.direction = route_handler::Direction::LEFT;
+  left_obj.direction = Direction::LEFT;
   ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length));
   ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length));
 }

planning/autoware_behavior_velocity_planner/package.xml

@@ -37,6 +37,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>diagnostic_msgs</depend>
@@ -49,7 +50,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>

planning/autoware_behavior_velocity_run_out_module/package.xml

@@ -21,6 +21,7 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>behavior_velocity_crosswalk_module</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>eigen</depend>
@@ -32,7 +33,6 @@
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>

planning/autoware_behavior_velocity_template_module/package.xml

@@ -14,6 +14,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -22,7 +23,6 @@
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tier4_autoware_utils</depend>

planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml

@@ -18,14 +18,14 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>

planning/autoware_behavior_velocity_walkway_module/package.xml

@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>behavior_velocity_crosswalk_module</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>geometry_msgs</depend>
@@ -26,7 +27,6 @@
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>

planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp

@@ -14,8 +14,8 @@
 
 #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
+#include <autoware_route_handler/route_handler.hpp>
 #include <planning_test_utils/planning_test_utils.hpp>
-#include <route_handler/route_handler.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose.hpp>
@@ -26,10 +26,10 @@
 
 namespace autoware_planning_test_manager::utils
 {
+using autoware::route_handler::RouteHandler;
 using autoware_planning_msgs::msg::LaneletRoute;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
-using route_handler::RouteHandler;
 using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
 
 Pose createPoseFromLaneID(const lanelet::Id & lane_id)

planning/autoware_planning_test_manager/package.xml

@@ -17,6 +17,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -26,7 +27,6 @@
   <depend>nav_msgs</depend>
   <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
-  <depend>route_handler</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>

planning/autoware_remaining_distance_time_calculator/package.xml

@@ -13,14 +13,14 @@
 
   <depend>autoware_internal_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>route_handler</depend>
   <depend>std_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp

@@ -15,8 +15,8 @@
 #ifndef REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_
 #define REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_
 
+#include <autoware_route_handler/route_handler.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <route_handler/route_handler.hpp>
 
 #include <autoware_internal_msgs/msg/mission_remaining_distance_time.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>