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refactor(behavior_path_avoidance_by_lane_change_module)!: prefix package and namespace with autoware_ (autowarefoundation#6638)
* build(behavior_path_avoidance_by_lane_change_module): prefix package and namespace with autoware_ Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_behavior_path_avoidance_by_lane_change_module): fix namespaces Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix tests Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_behavior_path_external_request_lane_change_module): revert performance-related clang-tidy fixes Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): update CODEOWNERS and .pages files Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): move headers files to src Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): fix include paths Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * Update planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build: fix missing using clauses Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com>
1 parent f328a15 commit 57786a7

19 files changed

+89
-62
lines changed

‎.github/CODEOWNERS

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@@ -144,6 +144,7 @@ perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong
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perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
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perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
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perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp
147+
planning/autoware_behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
147148
planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
148149
planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
149150
planning/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
@@ -161,7 +162,6 @@ planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.o
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planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
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planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
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planning/autoware_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp
164-
planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
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planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp

‎planning/.pages

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@@ -10,7 +10,7 @@ nav:
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- 'Dynamic Drivable Area': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design
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- 'Turn Signal': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design
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- 'Scene Module':
13-
- 'Avoidance by Lane Change': planning/behavior_path_avoidance_by_lane_change_module
13+
- 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module
1414
- 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
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- 'Goal Planner': planning/behavior_path_goal_planner_module
1616
- 'Lane Change': planning/behavior_path_lane_change_module

‎planning/behavior_path_avoidance_by_lane_change_module/CMakeLists.txt ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt

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@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(behavior_path_avoidance_by_lane_change_module)
2+
project(autoware_behavior_path_avoidance_by_lane_change_module)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()

‎planning/behavior_path_avoidance_by_lane_change_module/README.md ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md

File renamed without changes.

‎planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml

File renamed without changes.

‎planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg

File renamed without changes.

‎planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg

File renamed without changes.

‎planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg

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‎planning/behavior_path_avoidance_by_lane_change_module/package.xml ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml

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@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
4-
<name>behavior_path_avoidance_by_lane_change_module</name>
4+
<name>autoware_behavior_path_avoidance_by_lane_change_module</name>
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<version>0.1.0</version>
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<description>The behavior_path_avoidance_by_lane_change_module package</description>
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‎planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml

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@@ -0,0 +1,3 @@
1+
<library path="autoware_behavior_path_avoidance_by_lane_change_module">
2+
<class type="autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
3+
</library>

‎planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp

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@@ -11,13 +11,15 @@
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
1313
// limitations under the License.
14-
#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
15-
#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
14+
#ifndef DATA_STRUCTS_HPP_
15+
#define DATA_STRUCTS_HPP_
1616

1717
#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp"
1818

19-
namespace behavior_path_planner
19+
namespace autoware::behavior_path_planner
2020
{
21+
using ::behavior_path_planner::AvoidanceParameters;
22+
2123
struct AvoidanceByLCParameters : public AvoidanceParameters
2224
{
2325
// execute only when the target object longitudinal distance is larger than this param.
@@ -30,6 +32,6 @@ struct AvoidanceByLCParameters : public AvoidanceParameters
3032
{
3133
}
3234
};
33-
} // namespace behavior_path_planner
35+
} // namespace autoware::behavior_path_planner
3436

35-
#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
37+
#endif // DATA_STRUCTS_HPP_

‎planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp

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@@ -12,16 +12,19 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "behavior_path_avoidance_by_lane_change_module/interface.hpp"
15+
#include "interface.hpp"
1616

1717
#include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
1818
#include "autoware_behavior_path_planner_common/interface/scene_module_visitor.hpp"
1919

2020
#include <memory>
2121
#include <string>
2222

23-
namespace behavior_path_planner
23+
namespace autoware::behavior_path_planner
2424
{
25+
using ::behavior_path_planner::State;
26+
using ::route_handler::Direction;
27+
2528
AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
2629
const std::string & name, rclcpp::Node & node,
2730
const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -63,4 +66,4 @@ void AvoidanceByLaneChangeInterface::updateRTCStatus(
6366
uuid_map_.at(direction), isExecutionReady(), state, start_distance, finish_distance,
6467
clock_->now());
6568
}
66-
} // namespace behavior_path_planner
69+
} // namespace autoware::behavior_path_planner

‎planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp

+11-7
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@@ -12,21 +12,25 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
16-
#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
15+
#ifndef INTERFACE_HPP_
16+
#define INTERFACE_HPP_
1717

18-
#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
19-
#include "behavior_path_avoidance_by_lane_change_module/scene.hpp"
2018
#include "behavior_path_lane_change_module/interface.hpp"
19+
#include "data_structs.hpp"
20+
#include "scene.hpp"
2121

2222
#include <rclcpp/rclcpp.hpp>
2323

2424
#include <memory>
2525
#include <string>
2626
#include <unordered_map>
2727

28-
namespace behavior_path_planner
28+
namespace autoware::behavior_path_planner
2929
{
30+
using ::behavior_path_planner::LaneChangeInterface;
31+
using ::behavior_path_planner::ObjectsOfInterestMarkerInterface;
32+
using ::behavior_path_planner::RTCInterface;
33+
3034
class AvoidanceByLaneChangeInterface : public LaneChangeInterface
3135
{
3236
public:
@@ -45,6 +49,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
4549
protected:
4650
void updateRTCStatus(const double start_distance, const double finish_distance) override;
4751
};
48-
} // namespace behavior_path_planner
52+
} // namespace autoware::behavior_path_planner
4953

50-
#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
54+
#endif // INTERFACE_HPP_

‎planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp

+8-6
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@@ -12,10 +12,10 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "behavior_path_avoidance_by_lane_change_module/manager.hpp"
15+
#include "manager.hpp"
1616

1717
#include "autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp"
18-
#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
18+
#include "data_structs.hpp"
1919
#include "tier4_autoware_utils/ros/parameter.hpp"
2020
#include "tier4_autoware_utils/ros/update_param.hpp"
2121

@@ -25,8 +25,10 @@
2525
#include <string>
2626
#include <vector>
2727

28-
namespace behavior_path_planner
28+
namespace autoware::behavior_path_planner
2929
{
30+
using ::behavior_path_planner::getParameter;
31+
using ::behavior_path_planner::ObjectParameter;
3032

3133
void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
3234
{
@@ -191,9 +193,9 @@ AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
191193
objects_of_interest_marker_interface_ptr_map_);
192194
}
193195

194-
} // namespace behavior_path_planner
196+
} // namespace autoware::behavior_path_planner
195197

196198
#include <pluginlib/class_list_macros.hpp>
197199
PLUGINLIB_EXPORT_CLASS(
198-
behavior_path_planner::AvoidanceByLaneChangeModuleManager,
199-
behavior_path_planner::SceneModuleManagerInterface)
200+
autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager,
201+
::behavior_path_planner::SceneModuleManagerInterface)

‎planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp

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@@ -12,12 +12,12 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
16-
#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
15+
#ifndef MANAGER_HPP_
16+
#define MANAGER_HPP_
1717

18-
#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
19-
#include "behavior_path_avoidance_by_lane_change_module/interface.hpp"
2018
#include "behavior_path_lane_change_module/manager.hpp"
19+
#include "data_structs.hpp"
20+
#include "interface.hpp"
2121

2222
#include <rclcpp/rclcpp.hpp>
2323

@@ -26,9 +26,12 @@
2626
#include <unordered_map>
2727
#include <vector>
2828

29-
namespace behavior_path_planner
29+
namespace autoware::behavior_path_planner
3030
{
31-
using route_handler::Direction;
31+
using ::behavior_path_planner::LaneChangeModuleManager;
32+
using ::behavior_path_planner::LaneChangeModuleType;
33+
using ::behavior_path_planner::SceneModuleInterface;
34+
using ::route_handler::Direction;
3235

3336
class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
3437
{
@@ -47,6 +50,6 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
4750
private:
4851
std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters_;
4952
};
50-
} // namespace behavior_path_planner
53+
} // namespace autoware::behavior_path_planner
5154

52-
#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
55+
#endif // MANAGER_HPP_

‎planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp

+10-4
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "behavior_path_avoidance_by_lane_change_module/scene.hpp"
15+
#include "scene.hpp"
1616

1717
#include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
1818
#include "autoware_behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
@@ -28,13 +28,19 @@
2828
#include <boost/geometry/algorithms/centroid.hpp>
2929
#include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>
3030

31+
#include <algorithm>
3132
#include <limits>
3233
#include <optional>
3334
#include <utility>
3435

35-
namespace behavior_path_planner
36+
namespace autoware::behavior_path_planner
3637
{
37-
using behavior_path_planner::utils::lane_change::debug::createExecutionArea;
38+
using ::behavior_path_planner::Direction;
39+
using ::behavior_path_planner::LaneChangeModuleType;
40+
using ::behavior_path_planner::ObjectInfo;
41+
using ::behavior_path_planner::Point2d;
42+
using ::behavior_path_planner::utils::lane_change::debug::createExecutionArea;
43+
namespace utils = ::behavior_path_planner::utils;
3844

3945
AvoidanceByLaneChange::AvoidanceByLaneChange(
4046
const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -293,4 +299,4 @@ double AvoidanceByLaneChange::calcLateralOffset() const
293299
}
294300
return additional_lat_offset;
295301
}
296-
} // namespace behavior_path_planner
302+
} // namespace autoware::behavior_path_planner

‎planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp

+14-7
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@@ -12,19 +12,26 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
16-
#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
15+
#ifndef SCENE_HPP_
16+
#define SCENE_HPP_
1717

1818
#include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp"
19-
#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
2019
#include "behavior_path_lane_change_module/scene.hpp"
20+
#include "data_structs.hpp"
2121

2222
#include <memory>
2323

24-
namespace behavior_path_planner
24+
namespace autoware::behavior_path_planner
2525
{
26+
using ::behavior_path_planner::DebugData;
2627
using AvoidanceDebugData = DebugData;
27-
using helper::static_obstacle_avoidance::AvoidanceHelper;
28+
using ::behavior_path_planner::AvoidancePlanningData;
29+
using ::behavior_path_planner::LaneChangeParameters;
30+
using ::behavior_path_planner::NormalLaneChange;
31+
using ::behavior_path_planner::ObjectData;
32+
using ::behavior_path_planner::ObjectDataArray;
33+
using ::behavior_path_planner::PredictedObject;
34+
using ::behavior_path_planner::helper::static_obstacle_avoidance::AvoidanceHelper;
2835

2936
class AvoidanceByLaneChange : public NormalLaneChange
3037
{
@@ -59,6 +66,6 @@ class AvoidanceByLaneChange : public NormalLaneChange
5966
double calcMinimumLaneChangeLength() const;
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double calcLateralOffset() const;
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};
62-
} // namespace behavior_path_planner
69+
} // namespace autoware::behavior_path_planner
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64-
#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
71+
#endif // SCENE_HPP_

‎planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp ‎planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp

+15-15
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <cmath>
2424
#include <vector>
2525

26-
using behavior_path_planner::BehaviorPathPlannerNode;
26+
using ::behavior_path_planner::BehaviorPathPlannerNode;
2727
using planning_test_utils::PlanningInterfaceTestManager;
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2929
std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -52,26 +52,26 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
5252
ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module");
5353

5454
std::vector<std::string> module_names;
55-
module_names.emplace_back("behavior_path_planner::AvoidanceByLaneChangeModuleManager");
55+
module_names.emplace_back("autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager");
5656

5757
std::vector<rclcpp::Parameter> params;
5858
params.emplace_back("launch_modules", module_names);
5959
node_options.parameter_overrides(params);
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6161
test_utils::updateNodeOptions(
62-
node_options,
63-
{planning_test_utils_dir + "/config/test_common.param.yaml",
64-
planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
65-
planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
66-
behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
67-
behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
68-
behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
69-
behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
70-
ament_index_cpp::get_package_share_directory(
71-
"autoware_behavior_path_static_obstacle_avoidance_module") +
72-
"/config/static_obstacle_avoidance.param.yaml",
73-
ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") +
74-
"/config/avoidance_by_lane_change.param.yaml"});
62+
node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
63+
planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
64+
planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
65+
behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
66+
behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
67+
behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
68+
behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
69+
ament_index_cpp::get_package_share_directory(
70+
"autoware_behavior_path_static_obstacle_avoidance_module") +
71+
"/config/static_obstacle_avoidance.param.yaml",
72+
ament_index_cpp::get_package_share_directory(
73+
"autoware_behavior_path_avoidance_by_lane_change_module") +
74+
"/config/avoidance_by_lane_change.param.yaml"});
7575

7676
return std::make_shared<BehaviorPathPlannerNode>(node_options);
7777
}

‎planning/behavior_path_avoidance_by_lane_change_module/plugins.xml

-3
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