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refactor(external_cmd_selector): prefix package and namespace with au… #7384

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merged 2 commits into from
Jun 10, 2024
Merged

refactor(external_cmd_selector): prefix package and namespace with au… #7384

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e7a5da7
refactor(external_cmd_selector): prefix package and namespace with au…
yhisaki Jun 8, 2024
1fc7f8d
Merge branch 'main' into autoware_prefix-external_cmd_selector
yhisaki Jun 10, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Validating CODEOWNERS rules …
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ common/tvm_utility/** [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/autoware_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_lane_departure_checker/** [email protected] [email protected]
control/mpc_lateral_controller/** [email protected] [email protected]
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19 changes: 19 additions & 0 deletions control/autoware_external_cmd_selector/CMakeLists.txt
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@@ -0,0 +1,19 @@
cmake_minimum_required(VERSION 3.14)
project(autoware_external_cmd_selector)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_library(${PROJECT_NAME}_node SHARED
src/autoware_external_cmd_selector/external_cmd_selector_node.cpp
)

rclcpp_components_register_node(${PROJECT_NAME}_node
PLUGIN "autoware::external_cmd_selector::ExternalCmdSelector"
EXECUTABLE autoware_external_cmd_selector
)

ament_auto_package(INSTALL_TO_SHARE
launch
config
)
4 changes: 2 additions & 2 deletions control/external_cmd_selector/README.md → .../autoware_external_cmd_selector/README.md
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@@ -1,8 +1,8 @@
# external_cmd_selector
# autoware_external_cmd_selector

## Purpose

`external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.
`autoware_external_cmd_selector` is the package to publish `external_control_cmd`, `gear_cmd`, `hazard_lights_cmd`, `heartbeat` and `turn_indicators_cmd`, according to the current mode, which is `remote` or `local`.

The current mode is set via service, `remote` is remotely operated, `local` is to use the values calculated by Autoware.

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0 ...r/config/external_cmd_selector.param.yaml → ...r/config/external_cmd_selector.param.yaml
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11 changes: 6 additions & 5 deletions ...d_selector/external_cmd_selector_node.hpp → ...d_selector/external_cmd_selector_node.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
#define EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
#ifndef AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
#define AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <diagnostic_updater/update_functions.hpp>
Expand All @@ -30,7 +30,8 @@
#include <tier4_external_api_msgs/msg/turn_signal_stamped.hpp>

#include <memory>

namespace autoware::external_cmd_selector
{
class ExternalCmdSelector : public rclcpp::Node
{
public:
Expand Down Expand Up @@ -101,5 +102,5 @@ class ExternalCmdSelector : public rclcpp::Node
// Diagnostics Updater
diagnostic_updater::Updater updater_{this};
};

#endif // EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
} // namespace autoware::external_cmd_selector
#endif // AUTOWARE_EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
4 changes: 2 additions & 2 deletions ...or/launch/external_cmd_selector.launch.py → ...or/launch/external_cmd_selector.launch.py
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Expand Up @@ -32,8 +32,8 @@ def launch_setup(context, *args, **kwargs):
external_cmd_selector_param = yaml.safe_load(f)["/**"]["ros__parameters"]

component = ComposableNode(
package="external_cmd_selector",
plugin="ExternalCmdSelector",
package="autoware_external_cmd_selector",
plugin="autoware::external_cmd_selector::ExternalCmdSelector",
name="external_cmd_selector",
remappings=[
_create_mapping_tuple("service/select_external_command"),
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2 changes: 1 addition & 1 deletion ...r/launch/external_cmd_selector.launch.xml → ...r/launch/external_cmd_selector.launch.xml
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Expand Up @@ -26,7 +26,7 @@
<arg name="output/current_selector_mode" default="~/current_selector_mode"/>

<!-- node -->
<node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen">
<node pkg="autoware_external_cmd_selector" exec="autoware_external_cmd_selector" name="external_cmd_selector" output="screen">
<remap from="~/service/select_external_command" to="$(var service/select_external_command)"/>
<remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)"/>
<remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)"/>
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4 changes: 2 additions & 2 deletions control/external_cmd_selector/package.xml → ...utoware_external_cmd_selector/package.xml
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@@ -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>external_cmd_selector</name>
<name>autoware_external_cmd_selector</name>
<version>0.1.0</version>
<description>The external_cmd_selector package</description>
<description>The autoware_external_cmd_selector package</description>
<maintainer email="[email protected]">Taiki Tanaka</maintainer>
<maintainer email="[email protected]">Tomoya Kimura</maintainer>
<maintainer email="[email protected]">Shumpei Wakabayashi</maintainer>
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7 changes: 5 additions & 2 deletions ...d_selector/external_cmd_selector_node.cpp → ...d_selector/external_cmd_selector_node.cpp
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "external_cmd_selector/external_cmd_selector_node.hpp"
#include "autoware_external_cmd_selector/external_cmd_selector_node.hpp"

#include <tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp>

Expand All @@ -21,6 +21,8 @@
#include <string>
#include <utility>

namespace autoware::external_cmd_selector
{
ExternalCmdSelector::ExternalCmdSelector(const rclcpp::NodeOptions & node_options)
: Node("external_cmd_selector", node_options)
{
Expand Down Expand Up @@ -202,6 +204,7 @@ ExternalCmdSelector::InternalHeartbeat ExternalCmdSelector::convert(
{
return command;
}
} // namespace autoware::external_cmd_selector

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(ExternalCmdSelector)
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::external_cmd_selector::ExternalCmdSelector)
19 changes: 0 additions & 19 deletions control/external_cmd_selector/CMakeLists.txt
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This file was deleted.

5 changes: 4 additions & 1 deletion launch/tier4_control_launch/launch/control.launch.py
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Expand Up @@ -272,7 +272,10 @@
# external cmd selector
external_cmd_selector_loader = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("external_cmd_selector"), "/launch/external_cmd_selector.launch.py"]
[
FindPackageShare("autoware_external_cmd_selector"),
"/launch/external_cmd_selector.launch.py",
]

Check warning on line 278 in launch/tier4_control_launch/launch/control.launch.py

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

launch_setup increases from 370 to 373 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
),
launch_arguments=[
("use_intra_process", LaunchConfiguration("use_intra_process")),
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2 changes: 1 addition & 1 deletion launch/tier4_control_launch/package.xml
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Expand Up @@ -11,10 +11,10 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>autoware_external_cmd_selector</exec_depend>
<exec_depend>autoware_lane_departure_checker</exec_depend>
<exec_depend>control_evaluator</exec_depend>
<exec_depend>external_cmd_converter</exec_depend>
<exec_depend>external_cmd_selector</exec_depend>
<exec_depend>shift_decider</exec_depend>
<exec_depend>trajectory_follower_node</exec_depend>
<exec_depend>vehicle_cmd_gate</exec_depend>
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2 changes: 1 addition & 1 deletion launch/tier4_planning_launch/package.xml
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Expand Up @@ -59,6 +59,7 @@

<exec_depend>autoware_behavior_velocity_planner</exec_depend>
<exec_depend>autoware_costmap_generator</exec_depend>
<exec_depend>autoware_external_cmd_selector</exec_depend>
<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
<exec_depend>autoware_path_optimizer</exec_depend>
<exec_depend>autoware_planning_topic_converter</exec_depend>
Expand All @@ -67,7 +68,6 @@
<exec_depend>autoware_surround_obstacle_checker</exec_depend>
<exec_depend>autoware_velocity_smoother</exec_depend>
<exec_depend>behavior_path_planner</exec_depend>
<exec_depend>external_cmd_selector</exec_depend>
<exec_depend>freespace_planner</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>mission_planner</exec_depend>
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