refactor(behavior_path_planner): prefix autoware_ to behavior_path_planner package (autowarefoundation#7433)

* move dir

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fix pluginlib

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -176,7 +176,7 @@
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
-    <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
+    <composable_node pkg="autoware_behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/route" to="$(var input_route_topic_name)"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>

planning/.pages

@@ -1,18 +1,18 @@
 nav:
   - 'Introduction': planning
   - 'Behavior Path Planner':
-    - 'About Behavior Path': planning/behavior_path_planner
+    - 'About Behavior Path': planning/autoware_behavior_path_planner
     - 'Concept':
-        - 'Planner Manager': planning/behavior_path_planner/docs/behavior_path_planner_manager_design
-        - 'Scene Module Interface': planning/behavior_path_planner/docs/behavior_path_planner_interface_design
+        - 'Planner Manager': planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design
+        - 'Scene Module Interface': planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design
         - 'Path Generation': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design
         - 'Collision Assessment/Safety Check': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check
         - 'Dynamic Drivable Area': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design
         - 'Turn Signal': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design
     - 'Scene Module':
         - 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module
         - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
-        - 'Goal Planner': planning/behavior_path_goal_planner_module
+        - 'Goal Planner': planning/autoware_behavior_path_goal_planner_module
         - 'Lane Change': planning/autoware_behavior_path_lane_change_module
         - 'Side Shift': planning/autoware_behavior_path_side_shift_module
         - 'Start Planner': planning/autoware_behavior_path_start_planner_module

planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt

@@ -3,7 +3,7 @@ project(autoware_behavior_path_avoidance_by_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp

planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml

@@ -19,10 +19,10 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_lane_change_module</depend>
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_behavior_path_static_obstacle_avoidance_module</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>

planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>

planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt

@@ -3,7 +3,7 @@ project(autoware_behavior_path_dynamic_obstacle_avoidance_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp

planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml

@@ -16,11 +16,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
   <depend>lanelet2_extension</depend>

planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>

planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt

@@ -3,7 +3,7 @@ project(autoware_behavior_path_external_request_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/manager.cpp

planning/autoware_behavior_path_external_request_lane_change_module/package.xml

@@ -19,9 +19,9 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_lane_change_module</depend>
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp

@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
 #include "planning_test_utils/planning_test_utils.hpp"
 
 #include <gtest/gtest.h>

planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt

@@ -3,7 +3,7 @@ project(autoware_behavior_path_goal_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/default_fixed_goal_planner.cpp

planning/autoware_behavior_path_goal_planner_module/package.xml

@@ -20,9 +20,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

planning/autoware_behavior_path_lane_change_module/CMakeLists.txt

@@ -3,7 +3,7 @@ project(autoware_behavior_path_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/interface.cpp

planning/autoware_behavior_path_lane_change_module/package.xml

@@ -19,9 +19,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp

@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
 #include "planning_test_utils/planning_test_utils.hpp"
 
 #include <gtest/gtest.h>

planning/behavior_path_planner/CMakeLists.txt planning/autoware_behavior_path_planner/CMakeLists.txt

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

planning/behavior_path_planner/README.md planning/autoware_behavior_path_planner/README.md

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
-#define BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
 
+#include "autoware_behavior_path_planner/planner_manager.hpp"
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/steering_factor_interface.hpp"
-#include "behavior_path_planner/planner_manager.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -228,4 +228,4 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_

planning/behavior_path_planner/config/behavior_path_planner.param.yaml planning/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
-#define BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
 
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
@@ -471,4 +471,4 @@ class PlannerManager
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_

planning/behavior_path_planner/config/drivable_area_expansion.param.yaml planning/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml

@@ -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>behavior_path_planner</name>
+  <name>autoware_behavior_path_planner</name>
   <version>0.1.0</version>
   <description>The behavior_path_planner package</description>
 

planning/behavior_path_planner/config/scene_module_manager.param.yaml planning/autoware_behavior_path_planner/config/scene_module_manager.param.yaml

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include "autoware_behavior_path_planner_common/marker_utils/utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"

planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/planner_manager.hpp"
+#include "autoware_behavior_path_planner/planner_manager.hpp"
 
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
@@ -31,7 +31,8 @@
 namespace behavior_path_planner
 {
 PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num)
-: plugin_loader_("behavior_path_planner", "behavior_path_planner::SceneModuleManagerInterface"),
+: plugin_loader_(
+    "autoware_behavior_path_planner", "behavior_path_planner::SceneModuleManagerInterface"),
   logger_(node.get_logger().get_child("planner_manager")),
   clock_(*node.get_clock()),
   max_iteration_num_{max_iteration_num}

planning/behavior_path_planner/docs/behavior_path_planner_limitations.md planning/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>

planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md

@@ -3,7 +3,7 @@ project(autoware_behavior_path_sampling_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/sampling_planner_module.cpp

planning/behavior_path_planner/image/checking_module_transition.png planning/autoware_behavior_path_planner/image/checking_module_transition.png

@@ -3,7 +3,7 @@ project(autoware_behavior_path_side_shift_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp

planning/behavior_path_planner/image/limitations/limitation-chattering_shifts.png planning/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png

@@ -18,9 +18,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>

planning/behavior_path_planner/image/limitations/limitation-corner.png planning/autoware_behavior_path_planner/image/limitations/limitation-corner.png

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>

planning/behavior_path_planner/image/limitations/limitation-intersection.png planning/autoware_behavior_path_planner/image/limitations/limitation-intersection.png

@@ -3,7 +3,7 @@ project(autoware_behavior_path_start_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/start_planner_module.cpp

planning/behavior_path_planner/image/limitations/limitation01-01.png planning/autoware_behavior_path_planner/image/limitations/limitation01-01.png

@@ -20,9 +20,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

planning/behavior_path_planner/image/limitations/limitation01-02-not-work.png planning/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png

@@ -3,7 +3,7 @@ project(autoware_behavior_path_static_obstacle_avoidance_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp

planning/behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png planning/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png

@@ -21,13 +21,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_vehicle_info_utils</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>magic_enum</depend>

planning/behavior_path_planner/image/limitations/limitation01-04-equal-length.png planning/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>