refactor(map_based_prediction): prefix map based prediction

launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml

@@ -5,7 +5,7 @@
 
   <group if="$(var use_vector_map)">
     <set_remap from="objects" to="/perception/object_recognition/objects"/>
-    <include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
+    <include file="$(find-pkg-share autoware_map_based_prediction)/launch/map_based_prediction.launch.xml">
       <arg name="output_topic" value="/perception/object_recognition/objects"/>
       <arg name="input_topic" value="$(var input/objects)"/>
       <arg name="param_path" value="$(var object_recognition_prediction_map_based_prediction_param_path)"/>

perception/map_based_prediction/CMakeLists.txt → perception/autoware_map_based_prediction/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_based_prediction)
+project(autoware_map_based_prediction)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -22,7 +22,7 @@ ament_auto_add_library(map_based_prediction_node SHARED
 target_link_libraries(map_based_prediction_node glog::glog)
 
 rclcpp_components_register_node(map_based_prediction_node
-  PLUGIN "map_based_prediction::MapBasedPredictionNode"
+  PLUGIN "autoware::map_based_prediction::MapBasedPredictionNode"
   EXECUTABLE map_based_prediction
 )
 

perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp → perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp

@@ -51,7 +51,7 @@
 #include <utility>
 #include <vector>
 
-namespace map_based_prediction
+namespace autoware::map_based_prediction
 {
 struct LateralKinematicsToLanelet
 {
@@ -416,6 +416,6 @@ class MapBasedPredictionNode : public rclcpp::Node
     return true;
   };
 };
-}  // namespace map_based_prediction
+}  // namespace autoware::map_based_prediction
 
 #endif  // MAP_BASED_PREDICTION__MAP_BASED_PREDICTION_NODE_HPP_

perception/map_based_prediction/include/map_based_prediction/path_generator.hpp → perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp

@@ -28,7 +28,7 @@
 #include <utility>
 #include <vector>
 
-namespace map_based_prediction
+namespace autoware::map_based_prediction
 {
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
@@ -145,6 +145,6 @@ class PathGenerator
     const TrackedObject & object, const PosePath & ref_path, const double duration,
     const double speed_limit = 0.0) const;
 };
-}  // namespace map_based_prediction
+}  // namespace autoware::map_based_prediction
 
 #endif  // MAP_BASED_PREDICTION__PATH_GENERATOR_HPP_

perception/map_based_prediction/launch/map_based_prediction.launch.xml → perception/autoware_map_based_prediction/launch/map_based_prediction.launch.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="param_path" default="$(find-pkg-share map_based_prediction)/config/map_based_prediction.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_map_based_prediction)/config/map_based_prediction.param.yaml"/>
 
   <arg name="vector_map_topic" default="/map/vector_map"/>
   <arg name="traffic_signals_topic" default="/perception/traffic_light_recognition/traffic_signals"/>
   <arg name="output_topic" default="objects"/>
   <arg name="input_topic" default="/perception/object_recognition/tracking/objects"/>
 
-  <node pkg="map_based_prediction" exec="map_based_prediction" name="map_based_prediction" output="screen">
+  <node pkg="autoware_map_based_prediction" exec="map_based_prediction" name="map_based_prediction" output="screen">
     <param from="$(var param_path)"/>
     <remap from="/vector_map" to="$(var vector_map_topic)"/>
     <remap from="/traffic_signals" to="$(var traffic_signals_topic)"/>

perception/map_based_prediction/package.xml → perception/autoware_map_based_prediction/package.xml

@@ -1,7 +1,7 @@
 <?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>map_based_prediction</name>
+  <name>autoware_map_based_prediction</name>
   <version>0.1.0</version>
   <description>This package implements a map_based_prediction</description>
   <maintainer email="[email protected]">Tomoya Kimura</maintainer>

perception/map_based_prediction/src/debug.cpp → perception/autoware_map_based_prediction/src/debug.cpp

@@ -15,7 +15,7 @@
 #include "map_based_prediction/map_based_prediction_node.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 
-namespace map_based_prediction
+namespace autoware::map_based_prediction
 {
 visualization_msgs::msg::Marker MapBasedPredictionNode::getDebugMarker(
   const TrackedObject & object, const Maneuver & maneuver, const size_t obj_num)
@@ -46,4 +46,4 @@ visualization_msgs::msg::Marker MapBasedPredictionNode::getDebugMarker(
 
   return marker;
 }
-}  // namespace map_based_prediction
+}  // namespace autoware::map_based_prediction

perception/map_based_prediction/src/map_based_prediction_node.cpp → perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

@@ -50,7 +50,7 @@
 #include <functional>
 #include <limits>
 
-namespace map_based_prediction
+namespace autoware::map_based_prediction
 {
 
 namespace
@@ -2495,7 +2495,7 @@ bool MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal(
   return true;
 }
 
-}  // namespace map_based_prediction
+}  // namespace autoware::map_based_prediction
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(map_based_prediction::MapBasedPredictionNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_based_prediction::MapBasedPredictionNode)

perception/map_based_prediction/src/path_generator.cpp → perception/autoware_map_based_prediction/src/path_generator.cpp

@@ -20,7 +20,7 @@
 
 #include <algorithm>
 
-namespace map_based_prediction
+namespace autoware::map_based_prediction
 {
 PathGenerator::PathGenerator(
   const double sampling_time_interval, const double min_crosswalk_user_velocity)
@@ -487,4 +487,4 @@ FrenetPoint PathGenerator::getFrenetPoint(
 
   return frenet_point;
 }
-}  // namespace map_based_prediction
+}  // namespace autoware::map_based_prediction

perception/map_based_prediction/test/map_based_prediction/test_path_generator.cpp → perception/autoware_map_based_prediction/test/map_based_prediction/test_path_generator.cpp

@@ -54,8 +54,9 @@ TEST(PathGenerator, test_generatePathForNonVehicleObject)
   const double prediction_time_horizon = 10.0;
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate pedestrian object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::PEDESTRIAN);
@@ -77,8 +78,9 @@ TEST(PathGenerator, test_generatePathForLowSpeedVehicle)
   const double prediction_time_horizon = 10.0;
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate dummy object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR);
@@ -100,8 +102,9 @@ TEST(PathGenerator, test_generatePathForOffLaneVehicle)
   const double prediction_time_horizon = 10.0;
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate dummy object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR);
@@ -123,14 +126,15 @@ TEST(PathGenerator, test_generatePathForOnLaneVehicle)
   const double lateral_control_time_horizon = 5.0;
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate dummy object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR);
 
   // Generate reference path
-  map_based_prediction::PosePath ref_paths;
+  autoware::map_based_prediction::PosePath ref_paths;
   geometry_msgs::msg::Pose pose;
   pose.position.x = 0.0;
   pose.position.y = 0.0;
@@ -154,14 +158,15 @@ TEST(PathGenerator, test_generatePathForCrosswalkUser)
   const double prediction_time_horizon = 10.0;
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate dummy object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::PEDESTRIAN);
 
   // Generate dummy crosswalk
-  map_based_prediction::CrosswalkEdgePoints reachable_crosswalk;
+  autoware::map_based_prediction::CrosswalkEdgePoints reachable_crosswalk;
   reachable_crosswalk.front_center_point << 0.0, 0.0;
   reachable_crosswalk.front_right_point << 1.0, 0.0;
   reachable_crosswalk.front_left_point << -1.0, 0.0;
@@ -185,8 +190,9 @@ TEST(PathGenerator, test_generatePathToTargetPoint)
   // Generate Path generator
   const double prediction_sampling_time_interval = 0.5;
   const double min_crosswalk_user_velocity = 0.1;
-  const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator(
-    prediction_sampling_time_interval, min_crosswalk_user_velocity);
+  const autoware::map_based_prediction::PathGenerator path_generator =
+    autoware::map_based_prediction::PathGenerator(
+      prediction_sampling_time_interval, min_crosswalk_user_velocity);
 
   // Generate dummy object
   TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR);