autowarefoundation · takayuki5168 · Jun 8, 2024 · Jun 8, 2024 · Jun 8, 2024 · Jun 8, 2024
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -48,7 +48,7 @@ control/autoware_autonomous_emergency_braking/** [email protected] mamoru.
 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/joy_controller/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+control/autoware_joy_controller/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_lane_departure_checker/** [email protected] [email protected]
 control/mpc_lateral_controller/** [email protected] [email protected]
 control/obstacle_collision_checker/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_joy_controller)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_joy_controller_node SHARED
+  DIRECTORY src
+)
+
+rclcpp_components_register_node(autoware_joy_controller_node
+  PLUGIN "autoware::joy_controller::AutowareJoyControllerNode"
+  EXECUTABLE autoware_joy_controller
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)
@@ -1,22 +1,22 @@
-# joy_controller
+# autoware_joy_controller
 
 ## Role
 
-`joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
+`autoware_joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
 
 ## Usage
 
 ### ROS 2 launch
 
 ```bash
 # With default config (ds4)
-ros2 launch joy_controller joy_controller.launch.xml
+ros2 launch autoware_joy_controller joy_controller.launch.xml
 
 # Default config but select from the existing parameter files
-ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
+ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
 
 # Override the param file
-ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
+ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
 ```
 
 ## Input / Output

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONTROLLER_HPP_
-#define JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
 
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
@@ -37,7 +37,7 @@
 #include <memory>
 #include <string>
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 using GearShiftType = tier4_external_api_msgs::msg::GearShift::_data_type;
 using TurnSignalType = tier4_external_api_msgs::msg::TurnSignal::_data_type;
@@ -120,6 +120,6 @@ class AutowareJoyControllerNode : public rclcpp::Node
   bool isDataReady();
   void onTimer();
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
 
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 class DS4JoyConverter : public JoyConverterBase
 {
@@ -90,6 +90,6 @@ class DS4JoyConverter : public JoyConverterBase
 
   bool reverse() const { return Share(); }
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
 
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 class G29JoyConverter : public JoyConverterBase
 {
@@ -88,6 +88,6 @@ class G29JoyConverter : public JoyConverterBase
 
   bool reverse() const { return Share(); }
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
 
 #include <sensor_msgs/msg/joy.hpp>
 
 #include <algorithm>
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 class JoyConverterBase
 {
@@ -50,6 +50,6 @@ class JoyConverterBase
   virtual bool vehicle_engage() const = 0;
   virtual bool vehicle_disengage() const = 0;
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
 
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 class P65JoyConverter : public JoyConverterBase
 {
@@ -76,6 +76,6 @@ class P65JoyConverter : public JoyConverterBase
 
   const sensor_msgs::msg::Joy j_;
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
-#define JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
 
-#include "joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 class XBOXJoyConverter : public JoyConverterBase
 {
@@ -76,6 +76,6 @@ class XBOXJoyConverter : public JoyConverterBase
 
   const sensor_msgs::msg::Joy j_;
 };
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
-#endif  // JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
@@ -12,9 +12,9 @@
   <arg name="output_gate_mode" default="/control/gate_mode_cmd"/>
   <arg name="output_vehicle_engage" default="/vehicle/engage"/>
 
-  <arg name="config_file" default="$(find-pkg-share joy_controller)/config/joy_controller_ds4.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml"/>
 
-  <node pkg="joy_controller" exec="joy_controller" name="joy_controller" output="screen">
+  <node pkg="autoware_joy_controller" exec="autoware_joy_controller" name="joy_controller" output="screen">
     <remap from="input/joy" to="$(var input_joy)"/>
     <remap from="input/odometry" to="$(var input_odometry)"/>
 

@@ -0,0 +1,7 @@
+<launch>
+  <arg name="joy_type" default="ds4" description="options: ds4, g29, p65, xbox"/>
+
+  <include file="$(find-pkg-share autoware_joy_controller)/launch/joy_controller.launch.xml">
+    <arg name="config_file" value="$(find-pkg-share autoware_joy_controller)/config/joy_controller_$(var joy_type).param.yaml"/>
+  </include>
+</launch>
@@ -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>joy_controller</name>
+  <name>autoware_joy_controller</name>
   <version>0.1.0</version>
-  <description>The joy_controller package</description>
+  <description>The autoware_joy_controller package</description>
   <maintainer email="[email protected]">Taiki Tanaka</maintainer>
   <maintainer email="[email protected]">Tomoya Kimura</maintainer>
   <maintainer email="[email protected]">Shumpei Wakabayashi</maintainer>

@@ -3,7 +3,7 @@
   "title": "Parameters for Joy Controller node",
   "type": "object",
   "definitions": {
-    "joy_controller": {
+    "autoware_joy_controller": {
       "type": "object",
       "properties": {
         "joy_type": {
@@ -112,7 +112,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/joy_controller"
+          "$ref": "#/definitions/autoware_joy_controller"
         }
       },
       "required": ["ros__parameters"],

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "joy_controller/joy_controller.hpp"
-#include "joy_controller/joy_converter/ds4_joy_converter.hpp"
-#include "joy_controller/joy_converter/g29_joy_converter.hpp"
-#include "joy_controller/joy_converter/p65_joy_converter.hpp"
-#include "joy_controller/joy_converter/xbox_joy_converter.hpp"
+#include "autoware_joy_controller/joy_controller.hpp"
+#include "autoware_joy_controller/joy_converter/ds4_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/g29_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/p65_joy_converter.hpp"
+#include "autoware_joy_controller/joy_converter/xbox_joy_converter.hpp"
 
 #include <tier4_api_utils/tier4_api_utils.hpp>
 
@@ -27,9 +27,9 @@
 
 namespace
 {
-using joy_controller::GateModeType;
-using joy_controller::GearShiftType;
-using joy_controller::TurnSignalType;
+using autoware::joy_controller::GateModeType;
+using autoware::joy_controller::GearShiftType;
+using autoware::joy_controller::TurnSignalType;
 using GearShift = tier4_external_api_msgs::msg::GearShift;
 using TurnSignal = tier4_external_api_msgs::msg::TurnSignal;
 using GateMode = tier4_control_msgs::msg::GateMode;
@@ -146,7 +146,7 @@ double calcMapping(const double input, const double sensitivity)
 
 }  // namespace
 
-namespace joy_controller
+namespace autoware::joy_controller
 {
 void AutowareJoyControllerNode::onJoy()
 {
@@ -459,7 +459,7 @@ void AutowareJoyControllerNode::initTimer(double period_s)
 }
 
 AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions & node_options)
-: Node("joy_controller", node_options)
+: Node("autoware_joy_controller", node_options)
 {
   // Parameter
   joy_type_ = declare_parameter<std::string>("joy_type");
@@ -521,7 +521,7 @@ AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions &
   // Timer
   initTimer(1.0 / update_rate_);
 }
-}  // namespace joy_controller
+}  // namespace autoware::joy_controller
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(joy_controller::AutowareJoyControllerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::joy_controller::AutowareJoyControllerNode)
diff --git a/control/joy_controller/CMakeLists.txt b/control/joy_controller/CMakeLists.txt
diff --git a/control/joy_controller/launch/joy_controller_param_selection.launch.xml b/control/joy_controller/launch/joy_controller_param_selection.launch.xml