refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware

.github/CODEOWNERS

@@ -247,7 +247,7 @@ tools/reaction_analyzer/** [email protected]
 vehicle/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
 vehicle/autoware_steer_offset_estimator/** [email protected]
 vehicle/external_cmd_converter/** [email protected]
-vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
+vehicle/autoware_raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
 vehicle/autoware_steer_offset_estimator/** [email protected]
 vehicle/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected]
 

launch/tier4_vehicle_launch/launch/vehicle.launch.xml

@@ -6,7 +6,7 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
   <arg name="config_dir" default="$(find-pkg-share $(var sensor_model)_description)/config" description="path to dir where sensors_calibration.yaml, etc. are located"/>
-  <arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
+  <arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
 
   <let name="vehicle_launch_pkg" value="$(find-pkg-share $(var vehicle_model)_launch)"/>
 

vehicle/accel_brake_map_calibrator/README.md

@@ -1,6 +1,6 @@
 # accel_brake_map_calibrator
 
-The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `raw_vehicle_cmd_converter` node.
+The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `autoware_raw_vehicle_cmd_converter` node.
 
 The base map, which is lexus's one by default, is updated iteratively with the loaded driving data.
 
@@ -134,15 +134,15 @@ You can also save accel and brake map in the default directory where Autoware re
 
 ## System Parameters
 
-| Name                     | Type   | Description                                                                                                                                                                       | Default value                                            |
-| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------- |
-| update_method            | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell"                                |
-| get_pitch_method         | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation                                                                                        | "tf"                                                     |
-| pedal_accel_graph_output | bool   | if true, it will output a log of the pedal accel graph.                                                                                                                           | true                                                     |
-| progress_file_output     | bool   | if true, it will output a log and csv file of the update process.                                                                                                                 | false                                                    |
-| default_map_dir          | str    | directory of default map                                                                                                                                                          | [directory of *raw_vehicle_cmd_converter*]/data/default/ |
-| calibrated_map_dir       | str    | directory of calibrated map                                                                                                                                                       | [directory of *accel_brake_map_calibrator*]/config/      |
-| update_hz                | double | hz for update                                                                                                                                                                     | 10.0                                                     |
+| Name                     | Type   | Description                                                                                                                                                                       | Default value                                                     |
+| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------- |
+| update_method            | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell"                                         |
+| get_pitch_method         | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation                                                                                        | "tf"                                                              |
+| pedal_accel_graph_output | bool   | if true, it will output a log of the pedal accel graph.                                                                                                                           | true                                                              |
+| progress_file_output     | bool   | if true, it will output a log and csv file of the update process.                                                                                                                 | false                                                             |
+| default_map_dir          | str    | directory of default map                                                                                                                                                          | [directory of *autoware_raw_vehicle_cmd_converter*]/data/default/ |
+| calibrated_map_dir       | str    | directory of calibrated map                                                                                                                                                       | [directory of *accel_brake_map_calibrator*]/config/               |
+| update_hz                | double | hz for update                                                                                                                                                                     | 10.0                                                              |
 
 ## Algorithm Parameters
 

vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp

@@ -17,9 +17,9 @@
 #ifndef ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 #define ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
@@ -56,12 +56,12 @@
 namespace accel_brake_map_calibrator
 {
 
+using autoware::raw_vehicle_cmd_converter::AccelMap;
+using autoware::raw_vehicle_cmd_converter::BrakeMap;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
-using raw_vehicle_cmd_converter::AccelMap;
-using raw_vehicle_cmd_converter::BrakeMap;
 using std_msgs::msg::Float32MultiArray;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Float32Stamped;

vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <arg name="accel_brake_map_calib_param" default="$(find-pkg-share accel_brake_map_calibrator)/config/accel_brake_map_calibrator.param.yaml"/>
-  <arg name="csv_default_map_dir" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/"/>
+  <arg name="csv_default_map_dir" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/"/>
   <arg name="csv_calibrated_map_dir" default="$(find-pkg-share accel_brake_map_calibrator)/config/"/>
   <arg name="logger_level" default="info"/>
   <arg name="rviz" default="true"/>

vehicle/accel_brake_map_calibrator/package.xml

@@ -13,11 +13,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_raw_vehicle_cmd_converter</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
-  <depend>raw_vehicle_cmd_converter</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>

vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py

@@ -40,7 +40,7 @@ def __init__(self):
             CalibData, "/accel_brake_map_calibrator/get_data_service", self.get_data_callback
         )
 
-        default_map_path = get_package_share_directory("raw_vehicle_cmd_converter")
+        default_map_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter")
         self.declare_parameter(
             "/accel_brake_map_calibrator/csv_default_map_dir", default_map_path + "/data/default/"
         )

vehicle/accel_brake_map_calibrator/scripts/view_plot.py

@@ -45,7 +45,7 @@ def __init__(self, args):
         max_pedal_vel_thr = args.max_pedal_vel_thr
 
         if default_map_dir is None:
-            package_path = get_package_share_directory("raw_vehicle_cmd_converter")
+            package_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter")
             self.declare_parameter(
                 "/accel_brake_map_calibrator/csv_default_map_dir", package_path + "/data/default/"
             )

vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_raw_vehicle_cmd_converter)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(actuation_map_converter SHARED
+  src/accel_map.cpp
+  src/brake_map.cpp
+  src/steer_map.cpp
+  src/csv_loader.cpp
+  src/pid.cpp
+)
+
+ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED
+  src/node.cpp
+)
+
+target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component actuation_map_converter)
+
+rclcpp_components_register_node(autoware_raw_vehicle_cmd_converter_node_component
+  PLUGIN "autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode"
+  EXECUTABLE autoware_raw_vehicle_cmd_converter_node
+)
+
+if(BUILD_TESTING)
+  set(TEST_SOURCES
+    test/test_autoware_raw_vehicle_cmd_converter.cpp
+  )
+  set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_autoware_raw_vehicle_cmd_converter)
+  ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES})
+  target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter autoware_raw_vehicle_cmd_converter_node_component)
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  data
+  launch
+  test
+)
+
+install(PROGRAMS scripts/plot_accel_brake_map.py
+  DESTINATION lib/${PROJECT_NAME}
+)

vehicle/raw_vehicle_cmd_converter/README.md → vehicle/autoware_raw_vehicle_cmd_converter/README.md

@@ -1,4 +1,4 @@
-# raw_vehicle_cmd_converter
+# autoware_raw_vehicle_cmd_converter
 
 ## Overview
 
@@ -40,7 +40,7 @@ For ease of calibration and adjustments to the lookup table, an auto-calibration
 
 ## Parameters
 
-{{ json_to_markdown("vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }}
+{{ json_to_markdown("vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }}
 
 ## Limitation
 

vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml → vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml

@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
-    csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
-    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
+    csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv
+    csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: true

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp → vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class AccelMap
 {
@@ -37,13 +37,14 @@ class AccelMap
   std::vector<std::vector<double>> getAccelMap() const { return accel_map_; }
 
 private:
-  rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")};
+  rclcpp::Logger logger_{
+    rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
   std::string vehicle_name_;
   std::vector<double> vel_index_;
   std::vector<double> throttle_index_;
   std::vector<std::vector<double>> accel_map_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp → vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class BrakeMap
 {
@@ -37,14 +37,15 @@ class BrakeMap
   std::vector<std::vector<double>> getBrakeMap() const { return brake_map_; }
 
 private:
-  rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")};
+  rclcpp::Logger logger_{
+    rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
   std::string vehicle_name_;
   std::vector<double> vel_index_;
   std::vector<double> brake_index_;
   std::vector<double> brake_index_rev_;
   std::vector<std::vector<double>> brake_map_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp → vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
 
 #include <fstream>
 #include <iostream>
 #include <sstream>
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 using Table = std::vector<std::vector<std::string>>;
 using Map = std::vector<std::vector<double>>;
@@ -42,6 +42,6 @@ class CSVLoader
 private:
   std::string csv_path_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp → vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp

@@ -12,13 +12,13 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
 
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
-#include "raw_vehicle_cmd_converter/pid.hpp"
-#include "raw_vehicle_cmd_converter/steer_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/pid.hpp"
+#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 using Control = autoware_control_msgs::msg::Control;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
@@ -119,6 +119,6 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp → vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp

@@ -12,14 +12,14 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
 
 #include <algorithm>
 #include <iostream>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class PIDController
 {
@@ -42,24 +42,24 @@ class PIDController
 
 private:
   // parameters
-  double kp_;
-  double ki_;
-  double kd_;
-  double max_ret_p_;
-  double min_ret_p_;
-  double max_ret_i_;
-  double min_ret_i_;
-  double max_ret_d_;
-  double min_ret_d_;
-  double max_ret_;
-  double min_ret_;
+  double kp_{};
+  double ki_{};
+  double kd_{};
+  double max_ret_p_{};
+  double min_ret_p_{};
+  double max_ret_i_{};
+  double min_ret_i_{};
+  double max_ret_d_{};
+  double min_ret_d_{};
+  double max_ret_{};
+  double min_ret_{};
   // states
   double error_integral_{0.0};
   double prev_error_{0.0};
   bool is_first_time_{true};
   double invalid_integration_decay_{0.0};
   double is_initialized_{false};
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_