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build(static_centerline_generator): prefix package and namespace with autoware_ (autowarefoundation#6817)
* build(static_centerline_generator): 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: fix CMake target Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): more renames Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix namespace Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): 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> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix build issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix build 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_static_centerline_optimizer): 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: fix build errors Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix: remove else statements after return Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): 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> * revert changes for static_centerline_generator Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): add autoware_ prefix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix filenames Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): 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: added prefix to missing strings Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_static_centerline_generator): move header files to src Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_static_centerline_generator): 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> * refactor(autoware_static_centerline_generator): rename base folder Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * Update planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix include in CMake Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix missing includes 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 c732cb8 commit 65b5d00

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-114
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‎.github/CODEOWNERS

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@@ -156,6 +156,7 @@ perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhon
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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
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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/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_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
@@ -208,7 +209,6 @@ planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp
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planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp
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planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp
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planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
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planning/static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
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planning/surround_obstacle_checker/** satoshi.ota@tier4.jp
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sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp

‎planning/.pages

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@@ -67,7 +67,7 @@ nav:
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- 'About Motion Velocity Smoother': planning/motion_velocity_smoother
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- 'About Motion Velocity Smoother (Japanese)': planning/motion_velocity_smoother/README.ja
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- 'Scenario Selector': planning/scenario_selector
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- 'Static Centerline Generator': planning/static_centerline_generator
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- 'Static Centerline Generator': planning/autoware_static_centerline_generator
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- 'API and Library':
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- 'Costmap Generator': planning/costmap_generator
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- 'External Velocity Limit Selector': planning/external_velocity_limit_selector

‎planning/static_centerline_generator/CMakeLists.txt ‎planning/autoware_static_centerline_generator/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.14)
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project(static_centerline_generator)
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project(autoware_static_centerline_generator)
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find_package(autoware_cmake REQUIRED)
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@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(
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static_centerline_generator
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autoware_static_centerline_generator
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"srv/LoadMap.srv"
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"srv/PlanRoute.srv"
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"srv/PlanPath.srv"
@@ -29,10 +29,10 @@ ament_auto_add_executable(main
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if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
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rosidl_target_interfaces(main
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static_centerline_generator "rosidl_typesupport_cpp")
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autoware_static_centerline_generator "rosidl_typesupport_cpp")
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else()
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rosidl_get_typesupport_target(
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cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
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cpp_typesupport_target autoware_static_centerline_generator "rosidl_typesupport_cpp")
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target_link_libraries(main "${cpp_typesupport_target}")
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endif()
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@@ -43,6 +43,10 @@ ament_auto_package(
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rviz
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)
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target_include_directories(main PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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)
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if(BUILD_TESTING)
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add_launch_test(
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test/test_static_centerline_generator.test.py

‎planning/static_centerline_generator/README.md ‎planning/autoware_static_centerline_generator/README.md

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@@ -34,7 +34,7 @@ We can run
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with the following command by designating `<vehicle_model>`
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```sh
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ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
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ros2 launch autoware_static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
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```
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FYI, port ID of the http server is 4010 by default.
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- `<vehicle-model>`
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```sh
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ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
53+
ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
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```
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The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

‎planning/static_centerline_generator/config/common.param.yaml ‎planning/autoware_static_centerline_generator/config/common.param.yaml

File renamed without changes.

‎planning/static_centerline_generator/config/nearest_search.param.yaml ‎planning/autoware_static_centerline_generator/config/nearest_search.param.yaml

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‎planning/static_centerline_generator/config/static_centerline_generator.param.yaml ‎planning/autoware_static_centerline_generator/config/static_centerline_generator.param.yaml

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‎planning/static_centerline_generator/config/vehicle_info.param.yaml ‎planning/autoware_static_centerline_generator/config/vehicle_info.param.yaml

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‎planning/static_centerline_generator/launch/run_planning_server.launch.xml ‎planning/autoware_static_centerline_generator/launch/run_planning_server.launch.xml

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@@ -2,11 +2,11 @@
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<!-- mandatory arguments for planning-->
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<arg name="vehicle_model"/>
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5-
<include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
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<include file="$(find-pkg-share autoware_static_centerline_generator)/launch/static_centerline_generator.launch.xml">
66
<arg name="vehicle_model" value="$(var vehicle_model)"/>
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<arg name="run_background" value="true"/>
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</include>
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1010
<!-- local server to connect path optimizer and cloud software -->
11-
<node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
11+
<node pkg="autoware_static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
1212
</launch>

‎planning/static_centerline_generator/launch/static_centerline_generator.launch.xml ‎planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml

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@@ -55,7 +55,7 @@
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</node>
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<!-- optimize path -->
58-
<node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
58+
<node pkg="autoware_static_centerline_generator" exec="main" name="static_centerline_generator">
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<remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
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<remap from="input_centerline" to="~/input_centerline"/>
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<remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
7979
<param from="$(var obstacle_avoidance_planner_param)"/>
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<param from="$(var mission_planner_param)"/>
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<!-- node param -->
82-
<param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
82+
<param from="$(find-pkg-share autoware_static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
8383
<param name="centerline_source" value="$(var centerline_source)"/>
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<param name="bag_filename" value="$(var bag_filename)"/>
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</node>
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<!-- rviz -->
88-
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
88+
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_static_centerline_generator)/rviz/static_centerline_generator.param" if="$(var rviz)"/>
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</launch>

‎planning/static_centerline_generator/media/rviz.png ‎planning/autoware_static_centerline_generator/media/rviz.png

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‎planning/static_centerline_generator/media/unsafe_footprints.png ‎planning/autoware_static_centerline_generator/media/unsafe_footprints.png

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‎planning/static_centerline_generator/msg/PointsWithLaneId.msg ‎planning/autoware_static_centerline_generator/msg/PointsWithLaneId.msg

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‎planning/static_centerline_generator/package.xml ‎planning/autoware_static_centerline_generator/package.xml

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<?xml version="1.0"?>
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<?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>static_centerline_generator</name>
4+
<name>autoware_static_centerline_generator</name>
55
<version>0.1.0</version>
6-
<description>The static_centerline_generator package</description>
6+
<description>The autoware_static_centerline_generator package</description>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
88
<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
99
<license>Apache License 2.0</license>

‎planning/static_centerline_generator/rviz/static_centerline_generator.rviz ‎planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz

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@@ -130,7 +130,7 @@ Visualization Manager:
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /static_centerline_generator/input_centerline
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Value: /autoware_static_centerline_generator/input_centerline
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Value: true
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View Drivable Area:
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Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /static_centerline_generator/output_centerline
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Value: /autoware_static_centerline_generator/output_centerline
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Value: true
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View Footprint:
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Alpha: 1
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /static_centerline_generator/debug/raw_centerline
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Value: /autoware_static_centerline_generator/debug/raw_centerline
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Value: false
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View Drivable Area:
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Alpha: 0.9990000128746033
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Durability Policy: Transient Local
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /static_centerline_generator/debug/unsafe_footprints
271+
Value: /autoware_static_centerline_generator/debug/unsafe_footprints
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Value: true
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Enabled: false
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Name: debug

‎planning/static_centerline_generator/scripts/app.py ‎planning/autoware_static_centerline_generator/scripts/app.py

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@@ -17,15 +17,15 @@
1717
import json
1818
import uuid
1919

20+
from autoware_static_centerline_generator.srv import LoadMap
21+
from autoware_static_centerline_generator.srv import PlanPath
22+
from autoware_static_centerline_generator.srv import PlanRoute
2023
from flask import Flask
2124
from flask import jsonify
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from flask import request
2326
from flask_cors import CORS
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import rclpy
2528
from rclpy.node import Node
26-
from static_centerline_generator.srv import LoadMap
27-
from static_centerline_generator.srv import PlanPath
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from static_centerline_generator.srv import PlanRoute
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3030
rclpy.init()
3131
node = Node("static_centerline_generator_http_server")
@@ -51,7 +51,7 @@ def get_map():
5151
map_id = map_uuid
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5353
# create client
54-
cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map")
54+
cli = create_client(LoadMap, "/planning/autoware_static_centerline_generator/load_map")
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# request map loading
5757
req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
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print("map_id is not correct.")
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# create client
88-
cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route")
88+
cli = create_client(PlanRoute, "/planning/autoware_static_centerline_generator/plan_route")
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# request route planning
9191
req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
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print("map_id is not correct.")
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# create client
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cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
126+
cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path")
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# request path planning
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route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]

‎planning/static_centerline_generator/scripts/centerline_updater_helper.py ‎planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py

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transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
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self.sub_whole_centerline = self.create_subscription(
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Trajectory,
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"/static_centerline_generator/output_whole_centerline",
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"/autoware_static_centerline_generator/output_whole_centerline",
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self.onWholeCenterline,
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transient_local_qos,
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)

‎planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py ‎planning/autoware_static_centerline_generator/scripts/show_lanelet2_map_diff.py

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)
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args = parser.parse_args()
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original_osm_file_name = "/tmp/static_centerline_generator/input/lanelet2_map.osm"
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modified_osm_file_name = "/tmp/static_centerline_generator/output/lanelet2_map.osm"
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original_osm_file_name = "/tmp/autoware_static_centerline_generator/input/lanelet2_map.osm"
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modified_osm_file_name = "/tmp/autoware_static_centerline_generator/output/lanelet2_map.osm"
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# load LL2 maps
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original_osm_tree = ET.parse(original_osm_file_name)
@@ -118,7 +118,7 @@ def remove_diff_to_ignore(osm_root):
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remove_diff_to_ignore(modified_osm_root)
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# write LL2 maps
121-
output_dir_path = "/tmp/static_centerline_generator/show_lanelet2_map_diff/"
121+
output_dir_path = "/tmp/autoware_static_centerline_generator/show_lanelet2_map_diff/"
122122
os.makedirs(output_dir_path + "original/", exist_ok=True)
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os.makedirs(output_dir_path + "modified/", exist_ok=True)
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‎planning/autoware_static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh

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1+
#!/bin/bash
2+
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ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix autoware_static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus

‎planning/autoware_static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh

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1+
#!/bin/bash
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ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus

‎planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp ‎planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp

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1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
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15-
#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
15+
#include "centerline_source/bag_ego_trajectory_based_centerline.hpp"
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#include "rclcpp/serialization.hpp"
1818
#include "rosbag2_cpp/reader.hpp"
19-
#include "static_centerline_generator/static_centerline_generator_node.hpp"
19+
#include "static_centerline_generator_node.hpp"
2020

2121
#include <nav_msgs/msg/odometry.hpp>
2222

23-
namespace static_centerline_generator
23+
#include <memory>
24+
#include <string>
25+
26+
namespace autoware::static_centerline_generator
2427
{
2528
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
2629
{
@@ -79,4 +82,4 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
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8083
return centerline_traj_points;
8184
}
82-
} // namespace static_centerline_generator
85+
} // namespace autoware::static_centerline_generator

‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp ‎planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -12,16 +12,16 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
16-
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
15+
#ifndef CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
16+
#define CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
1717

1818
#include "rclcpp/rclcpp.hpp"
19-
#include "static_centerline_generator/type_alias.hpp"
19+
#include "type_alias.hpp"
2020

2121
#include <vector>
2222

23-
namespace static_centerline_generator
23+
namespace autoware::static_centerline_generator
2424
{
2525
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
26-
} // namespace static_centerline_generator
27-
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
26+
} // namespace autoware::static_centerline_generator
27+
#endif // CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_

‎planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp ‎planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp

+7-5
Original file line numberDiff line numberDiff line change
@@ -12,17 +12,19 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
15+
#include "centerline_source/optimization_trajectory_based_centerline.hpp"
1616

1717
#include "motion_utils/resample/resample.hpp"
1818
#include "motion_utils/trajectory/conversion.hpp"
1919
#include "obstacle_avoidance_planner/node.hpp"
2020
#include "path_smoother/elastic_band_smoother.hpp"
21-
#include "static_centerline_generator/static_centerline_generator_node.hpp"
22-
#include "static_centerline_generator/utils.hpp"
21+
#include "static_centerline_generator_node.hpp"
2322
#include "tier4_autoware_utils/ros/parameter.hpp"
23+
#include "utils.hpp"
2424

25-
namespace static_centerline_generator
25+
#include <algorithm>
26+
27+
namespace autoware::static_centerline_generator
2628
{
2729
namespace
2830
{
@@ -180,4 +182,4 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
180182

181183
return whole_optimized_traj_points;
182184
}
183-
} // namespace static_centerline_generator
185+
} // namespace autoware::static_centerline_generator

‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp ‎planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -12,15 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
16-
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
15+
#ifndef CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
16+
#define CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
1717

1818
#include "rclcpp/rclcpp.hpp"
19-
#include "static_centerline_generator/type_alias.hpp"
19+
#include "type_alias.hpp"
2020

2121
#include <vector>
2222

23-
namespace static_centerline_generator
23+
namespace autoware::static_centerline_generator
2424
{
2525
class OptimizationTrajectoryBasedCenterline
2626
{
@@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline
3737
rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
3838
rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
3939
};
40-
} // namespace static_centerline_generator
40+
} // namespace autoware::static_centerline_generator
4141
// clang-format off
42-
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
42+
#endif // CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
4343
// clang-format on

‎planning/static_centerline_generator/src/main.cpp ‎planning/autoware_static_centerline_generator/src/main.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "static_centerline_generator/static_centerline_generator_node.hpp"
15+
#include "static_centerline_generator_node.hpp"
1616

1717
int main(int argc, char * argv[])
1818
{
@@ -21,7 +21,8 @@ int main(int argc, char * argv[])
2121
// initialize node
2222
rclcpp::NodeOptions node_options;
2323
auto node =
24-
std::make_shared<static_centerline_generator::StaticCenterlineGeneratorNode>(node_options);
24+
std::make_shared<autoware::static_centerline_generator::StaticCenterlineGeneratorNode>(
25+
node_options);
2526

2627
// get ros parameter
2728
const bool run_background = node->declare_parameter<bool>("run_background");

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