refactor(autoware_object_merger): move headers to src and rename package (autowarefoundation#7804)

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Author: esteve

.github/CODEOWNERS

@@ -106,6 +106,7 @@ map/map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro
 map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
@@ -128,7 +129,6 @@ perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp

launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
 
   <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
@@ -119,7 +119,7 @@
 
   <!-- 1st merger: camera_lidar_fusion + lidar cluster-->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -131,7 +131,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
   <arg name="far_object_merger_sync_queue_size" default="20"/>
 
   <!-- Pipeline junctions -->
@@ -142,7 +142,7 @@
 
   <!-- 1st merger -->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -154,7 +154,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>
@@ -177,7 +177,7 @@
   <!-- Merge far_objects and near_objects in detection stage.
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
   <group unless="$(var use_radar_tracking_fusion)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger3/input/objects0)"/>
       <arg name="input/object1" value="$(var merger3/input/objects1)"/>
       <arg name="output/object" value="$(var merger3/output/objects)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
 
   <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
@@ -57,7 +57,7 @@
 
   <!-- 1st merger: ML detection + pointcloud cluster -->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -69,7 +69,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>

launch/tier4_perception_launch/package.xml

@@ -17,6 +17,7 @@
   <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_detection_by_tracker</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
+  <exec_depend>autoware_object_merger</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
   <exec_depend>autoware_object_velocity_splitter</exec_depend>
   <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
@@ -34,7 +35,6 @@
   <exec_depend>image_transport_decompressor</exec_depend>
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>multi_object_tracker</exec_depend>
-  <exec_depend>object_merger</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>

perception/object_merger/CMakeLists.txt perception/autoware_object_merger/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(object_merger)
+project(autoware_object_merger)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

perception/object_merger/README.md perception/autoware_object_merger/README.md

@@ -16,12 +16,12 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
 
-#include "autoware_object_merger/association/solver/gnn_solver.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -62,4 +62,4 @@ class DataAssociation
 
 }  // namespace autoware::object_merger
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_

perception/object_merger/config/data_association_matrix.param.yaml perception/autoware_object_merger/config/data_association_matrix.param.yaml

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
-#include "autoware_object_merger/association/solver/mu_ssp.hpp"
-#include "autoware_object_merger/association/solver/ssp.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/object_merger/association/solver/ssp.hpp"
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_

perception/object_merger/config/object_association_merger.param.yaml perception/autoware_object_merger/config/object_association_merger.param.yaml

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_

perception/object_merger/config/overlapped_judge.param.yaml perception/autoware_object_merger/config/overlapped_judge.param.yaml

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_

perception/object_merger/include/autoware_object_merger/association/data_association.hpp perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_

perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_ASSOCIATION_MERGER_NODE_HPP_
-#define OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#define AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
 
+#include "autoware/object_merger/association/data_association.hpp"
 #include "autoware/universe_utils/ros/debug_publisher.hpp"
 #include "autoware/universe_utils/ros/published_time_publisher.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
-#include "autoware_object_merger/association/data_association.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -91,4 +91,4 @@ class ObjectAssociationMergerNode : public rclcpp::Node
 };
 }  // namespace autoware::object_merger
 
-#endif  // OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_

perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp

@@ -4,11 +4,11 @@
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
-  <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-  <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
+  <arg name="data_association_matrix_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_association_merger_param_path" default="$(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml"/>
 
-  <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
+  <node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
     <remap from="input/object1" to="$(var input/object1)"/>
     <remap from="output/object" to="$(var output/object)"/>

perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp

@@ -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>object_merger</name>
+  <name>autoware_object_merger</name>
   <version>0.1.0</version>
-  <description>The object_merger package</description>
+  <description>The autoware_object_merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="taekjin.lee@tier4.jp">Taekjin Lee</maintainer>

perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/data_association.hpp"
+#include "autoware/object_merger/association/data_association.hpp"
 
+#include "autoware/object_merger/association/solver/gnn_solver.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>

perception/object_merger/src/object_association_merger_node.hpp perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/object_merger/association/solver/mu_ssp.hpp"
 
 #include <mussp/mussp.h>
 

perception/object_merger/launch/object_association_merger.launch.xml perception/autoware_object_merger/launch/object_association_merger.launch.xml

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/solver/ssp.hpp"
+#include "autoware/object_merger/association/solver/ssp.hpp"
 
 #include <algorithm>
 #include <cassert>

perception/object_merger/package.xml perception/autoware_object_merger/package.xml

@@ -14,7 +14,7 @@
 
 #define EIGEN_MPL2_ONLY
 
-#include "object_association_merger_node.hpp"
+#include "autoware/object_merger/object_association_merger_node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"