From 2f96ce85361c06a886b1d64573606216ea652f8d Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 7 Jun 2024 15:47:52 +0900 Subject: [PATCH 1/6] add prefix to the code Signed-off-by: Yuki Takagi --- .github/CODEOWNERS | 3 ++- launch/tier4_control_launch/launch/control.launch.py | 2 +- launch/tier4_control_launch/package.xml | 3 ++- vehicle/external_cmd_converter/CMakeLists.txt | 8 ++++---- .../include/external_cmd_converter/node.hpp | 10 +++++----- .../launch/external_cmd_converter.launch.py | 4 ++-- .../launch/external_cmd_converter.launch.xml | 4 ++-- vehicle/external_cmd_converter/package.xml | 4 ++-- vehicle/external_cmd_converter/src/node.cpp | 6 +++--- 9 files changed, 23 insertions(+), 21 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 1541120912eb4..6a51c4637c986 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -245,10 +245,11 @@ system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp system/velodyne_monitor/** fumihito.ito@tier4.jp tools/reaction_analyzer/** berkay@leodrive.ai vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp +vehicle/autoware_external_cmd_converter/** takamasa.horibe@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp -vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp + ### Copied from .github/CODEOWNERS-manual ### diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 2dd12b1705dd3..bce942c2b5597 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -290,7 +290,7 @@ def launch_setup(context, *args, **kwargs): # external cmd converter external_cmd_converter_loader = IncludeLaunchDescription( PythonLaunchDescriptionSource( - [FindPackageShare("external_cmd_converter"), "/launch/external_cmd_converter.launch.py"] + [FindPackageShare("autoware_external_cmd_converter"), "/launch/external_cmd_converter.launch.py"] ), launch_arguments=[ ("use_intra_process", LaunchConfiguration("use_intra_process")), diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index f02ec0aee47b6..f4293e2af1ca6 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -15,7 +15,8 @@ autoware_lane_departure_checker autoware_vehicle_cmd_gate control_evaluator - external_cmd_converter + autoware_external_cmd_converter + external_cmd_selector shift_decider trajectory_follower_node diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/external_cmd_converter/CMakeLists.txt index 9624067bcf757..4ea0786128235 100644 --- a/vehicle/external_cmd_converter/CMakeLists.txt +++ b/vehicle/external_cmd_converter/CMakeLists.txt @@ -1,15 +1,15 @@ cmake_minimum_required(VERSION 3.14) -project(external_cmd_converter) +project(autoware_external_cmd_converter) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(external_cmd_converter SHARED +ament_auto_add_library(autoware_external_cmd_converter SHARED src/node.cpp ) -rclcpp_components_register_node(external_cmd_converter - PLUGIN "external_cmd_converter::ExternalCmdConverterNode" +rclcpp_components_register_node(autoware_external_cmd_converter + PLUGIN "autoware_external_cmd_converter::ExternalCmdConverterNode" EXECUTABLE external_cmd_converter_node ) diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp index b491cb3db5484..43e018783480e 100644 --- a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp +++ b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef EXTERNAL_CMD_CONVERTER__NODE_HPP_ -#define EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ #include "tier4_autoware_utils/ros/polling_subscriber.hpp" @@ -32,7 +32,7 @@ #include #include -namespace external_cmd_converter +namespace autoware_external_cmd_converter { using GearCommand = autoware_vehicle_msgs::msg::GearCommand; using autoware_control_msgs::msg::Control; @@ -104,6 +104,6 @@ class ExternalCmdConverterNode : public rclcpp::Node double get_shift_velocity_sign(const GearCommand & cmd); }; -} // namespace external_cmd_converter +} // namespace autoware::external_cmd_converter -#endif // EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#endif // AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py index e3f5ec20e6165..4318a505a6667 100644 --- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py +++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py @@ -105,8 +105,8 @@ def generate_launch_description(): ] component = ComposableNode( - package="external_cmd_converter", - plugin="external_cmd_converter::ExternalCmdConverterNode", + package="autoware_external_cmd_converter", + plugin="autoware_external_cmd_converter::ExternalCmdConverterNode", name="external_cmd_converter", remappings=[ _create_mapping_tuple("in/external_control_cmd"), diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml index b2ac46297b044..8e38a5d529ca7 100644 --- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml +++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml @@ -1,6 +1,6 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml index 5627616971e26..f98c14f4fd2c3 100644 --- a/vehicle/external_cmd_converter/package.xml +++ b/vehicle/external_cmd_converter/package.xml @@ -1,9 +1,9 @@ - external_cmd_converter + autoware_external_cmd_converter 0.1.0 - The external_cmd_converter package + The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata Apache License 2.0 diff --git a/vehicle/external_cmd_converter/src/node.cpp b/vehicle/external_cmd_converter/src/node.cpp index 49b4d80371eed..bba96fb81c679 100644 --- a/vehicle/external_cmd_converter/src/node.cpp +++ b/vehicle/external_cmd_converter/src/node.cpp @@ -19,7 +19,7 @@ #include #include -namespace external_cmd_converter +namespace autoware_external_cmd_converter { ExternalCmdConverterNode::ExternalCmdConverterNode(const rclcpp::NodeOptions & node_options) : Node("external_cmd_converter", node_options) @@ -226,7 +226,7 @@ bool ExternalCmdConverterNode::check_remote_topic_rate() return true; } -} // namespace external_cmd_converter +} // namespace autoware_external_cmd_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(external_cmd_converter::ExternalCmdConverterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware_external_cmd_converter::ExternalCmdConverterNode) From 84d0e806ef252dd79b93bac910e284a7af39df22 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 7 Jun 2024 15:58:17 +0900 Subject: [PATCH 2/6] rename Signed-off-by: Yuki Takagi --- .../CMakeLists.txt | 0 .../README.md | 0 .../config/external_cmd_converter.param.yaml | 0 .../include/external_cmd_converter/node.hpp | 0 .../launch/external_cmd_converter.launch.py | 0 .../launch/external_cmd_converter.launch.xml | 0 .../package.xml | 0 .../schema/external_cmd_converter.json | 0 .../src/node.cpp | 0 9 files changed, 0 insertions(+), 0 deletions(-) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/CMakeLists.txt (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/README.md (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/config/external_cmd_converter.param.yaml (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/include/external_cmd_converter/node.hpp (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/launch/external_cmd_converter.launch.py (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/launch/external_cmd_converter.launch.xml (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/package.xml (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/schema/external_cmd_converter.json (100%) rename vehicle/{external_cmd_converter => autoware_external_cmd_converter}/src/node.cpp (100%) diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/autoware_external_cmd_converter/CMakeLists.txt similarity index 100% rename from vehicle/external_cmd_converter/CMakeLists.txt rename to vehicle/autoware_external_cmd_converter/CMakeLists.txt diff --git a/vehicle/external_cmd_converter/README.md b/vehicle/autoware_external_cmd_converter/README.md similarity index 100% rename from vehicle/external_cmd_converter/README.md rename to vehicle/autoware_external_cmd_converter/README.md diff --git a/vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml b/vehicle/autoware_external_cmd_converter/config/external_cmd_converter.param.yaml similarity index 100% rename from vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml rename to vehicle/autoware_external_cmd_converter/config/external_cmd_converter.param.yaml diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp similarity index 100% rename from vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp rename to vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py b/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py similarity index 100% rename from vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py rename to vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml b/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.xml similarity index 100% rename from vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml rename to vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.xml diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml similarity index 100% rename from vehicle/external_cmd_converter/package.xml rename to vehicle/autoware_external_cmd_converter/package.xml diff --git a/vehicle/external_cmd_converter/schema/external_cmd_converter.json b/vehicle/autoware_external_cmd_converter/schema/external_cmd_converter.json similarity index 100% rename from vehicle/external_cmd_converter/schema/external_cmd_converter.json rename to vehicle/autoware_external_cmd_converter/schema/external_cmd_converter.json diff --git a/vehicle/external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp similarity index 100% rename from vehicle/external_cmd_converter/src/node.cpp rename to vehicle/autoware_external_cmd_converter/src/node.cpp From 8a73a6f1a9f92426475be2cc3fb79007958a8ae8 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 7 Jun 2024 19:37:49 +0900 Subject: [PATCH 3/6] fix Signed-off-by: Yuki Takagi --- vehicle/autoware_external_cmd_converter/CMakeLists.txt | 2 +- .../include/external_cmd_converter/node.hpp | 2 +- .../launch/external_cmd_converter.launch.py | 2 +- vehicle/autoware_external_cmd_converter/src/node.cpp | 6 +++--- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/vehicle/autoware_external_cmd_converter/CMakeLists.txt b/vehicle/autoware_external_cmd_converter/CMakeLists.txt index 4ea0786128235..27a256ea775c5 100644 --- a/vehicle/autoware_external_cmd_converter/CMakeLists.txt +++ b/vehicle/autoware_external_cmd_converter/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(autoware_external_cmd_converter SHARED ) rclcpp_components_register_node(autoware_external_cmd_converter - PLUGIN "autoware_external_cmd_converter::ExternalCmdConverterNode" + PLUGIN "autoware::external_cmd_converter::ExternalCmdConverterNode" EXECUTABLE external_cmd_converter_node ) diff --git a/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp index 43e018783480e..97ee325ecdcca 100644 --- a/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp +++ b/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp @@ -32,7 +32,7 @@ #include #include -namespace autoware_external_cmd_converter +namespace autoware::external_cmd_converter { using GearCommand = autoware_vehicle_msgs::msg::GearCommand; using autoware_control_msgs::msg::Control; diff --git a/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py b/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py index 4318a505a6667..91dfde42046a7 100644 --- a/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py +++ b/vehicle/autoware_external_cmd_converter/launch/external_cmd_converter.launch.py @@ -106,7 +106,7 @@ def generate_launch_description(): component = ComposableNode( package="autoware_external_cmd_converter", - plugin="autoware_external_cmd_converter::ExternalCmdConverterNode", + plugin="autoware::external_cmd_converter::ExternalCmdConverterNode", name="external_cmd_converter", remappings=[ _create_mapping_tuple("in/external_control_cmd"), diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index bba96fb81c679..2dd47b506cda5 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -19,7 +19,7 @@ #include #include -namespace autoware_external_cmd_converter +namespace autoware::external_cmd_converter { ExternalCmdConverterNode::ExternalCmdConverterNode(const rclcpp::NodeOptions & node_options) : Node("external_cmd_converter", node_options) @@ -226,7 +226,7 @@ bool ExternalCmdConverterNode::check_remote_topic_rate() return true; } -} // namespace autoware_external_cmd_converter +} // namespace autoware::external_cmd_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(autoware_external_cmd_converter::ExternalCmdConverterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::external_cmd_converter::ExternalCmdConverterNode) From 0bb37841b492cfdcfa4fcd41f93b04921d09a8d5 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 10 Jun 2024 16:42:59 +0900 Subject: [PATCH 4/6] fix Signed-off-by: Yuki Takagi --- launch/tier4_control_launch/launch/control.launch.py | 5 ++++- launch/tier4_control_launch/package.xml | 2 +- .../node.hpp | 6 +++--- vehicle/autoware_external_cmd_converter/src/node.cpp | 2 +- 4 files changed, 9 insertions(+), 6 deletions(-) rename vehicle/autoware_external_cmd_converter/include/{external_cmd_converter => autoware_external_cmd_converter}/node.hpp (96%) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index bce942c2b5597..c9de43aa38165 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -290,7 +290,10 @@ def launch_setup(context, *args, **kwargs): # external cmd converter external_cmd_converter_loader = IncludeLaunchDescription( PythonLaunchDescriptionSource( - [FindPackageShare("autoware_external_cmd_converter"), "/launch/external_cmd_converter.launch.py"] + [ + FindPackageShare("autoware_external_cmd_converter"), + "/launch/external_cmd_converter.launch.py", + ] ), launch_arguments=[ ("use_intra_process", LaunchConfiguration("use_intra_process")), diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index f4293e2af1ca6..33f0ea5318654 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -11,11 +11,11 @@ ament_cmake_auto autoware_cmake + autoware_external_cmd_converter autoware_external_cmd_selector autoware_lane_departure_checker autoware_vehicle_cmd_gate control_evaluator - autoware_external_cmd_converter external_cmd_selector shift_decider trajectory_follower_node diff --git a/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp similarity index 96% rename from vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp rename to vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp index 97ee325ecdcca..3ea289976c210 100644 --- a/vehicle/autoware_external_cmd_converter/include/external_cmd_converter/node.hpp +++ b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ -#define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#ifndef EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#define EXTERNAL_CMD_CONVERTER__NODE_HPP_ #include "tier4_autoware_utils/ros/polling_subscriber.hpp" @@ -106,4 +106,4 @@ class ExternalCmdConverterNode : public rclcpp::Node } // namespace autoware::external_cmd_converter -#endif // AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#endif // EXTERNAL_CMD_CONVERTER__NODE_HPP_ diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 2dd47b506cda5..cbff8ab5ef2ce 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "external_cmd_converter/node.hpp" +#include "autoware_external_cmd_converter/node.hpp" #include #include From b2c48a7ddde0ddd08c7b475fc73f3e33288a4658 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 10 Jun 2024 16:57:02 +0900 Subject: [PATCH 5/6] fix Signed-off-by: Yuki Takagi --- .../include/autoware_external_cmd_converter/node.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp index 3ea289976c210..97ee325ecdcca 100644 --- a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp +++ b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef EXTERNAL_CMD_CONVERTER__NODE_HPP_ -#define EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ #include "tier4_autoware_utils/ros/polling_subscriber.hpp" @@ -106,4 +106,4 @@ class ExternalCmdConverterNode : public rclcpp::Node } // namespace autoware::external_cmd_converter -#endif // EXTERNAL_CMD_CONVERTER__NODE_HPP_ +#endif // AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ From 14033775c70c85b087f25c7d50ca688a2441fc09 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 11 Jun 2024 01:16:49 +0900 Subject: [PATCH 6/6] Update .github/CODEOWNERS --- .github/CODEOWNERS | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 29b17562a2c19..9fb7aa21d74b7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -250,5 +250,4 @@ vehicle/autoware_raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tan vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp - ### Copied from .github/CODEOWNERS-manual ###