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mkqudamkquda
authoredJun 11, 2024
refactor(trajectory_follower_base): trajectory follower base add autoware prefix (autowarefoundation#7343)
* rename trajectory follower base package Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update dependencies and includes Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix formats Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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‎.github/CODEOWNERS

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@@ -58,7 +58,7 @@ control/predicted_path_checker/** berkay@leodrive.ai
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control/pure_pursuit/** takamasa.horibe@tier4.jp
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control/shift_decider/** takamasa.horibe@tier4.jp
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control/autoware_smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
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control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
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evaluator/control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp

‎control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp

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#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
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#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
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#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
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#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "trajectory_follower_base/lateral_controller_base.hpp"
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#include "autoware_control_msgs/msg/lateral.hpp"
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#include "autoware_planning_msgs/msg/trajectory.hpp"

‎control/autoware_mpc_lateral_controller/package.xml

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<depend>autoware_control_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_trajectory_follower_base</depend>
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<depend>autoware_vehicle_info_utils</depend>
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<depend>autoware_vehicle_msgs</depend>
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<depend>diagnostic_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>tier4_autoware_utils</depend>
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<depend>tier4_debug_msgs</depend>
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<depend>trajectory_follower_base</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>

‎control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp

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@@ -20,14 +20,14 @@
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#include "autoware_pid_longitudinal_controller/lowpass_filter.hpp"
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#include "autoware_pid_longitudinal_controller/pid.hpp"
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#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
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#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
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#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
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#include "diagnostic_updater/diagnostic_updater.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "tf2/utils.h"
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#include "tf2_ros/buffer.h"
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#include "tf2_ros/transform_listener.h"
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#include "tier4_autoware_utils/ros/marker_helper.hpp"
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#include "trajectory_follower_base/longitudinal_controller_base.hpp"
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#include <Eigen/Core>
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#include <Eigen/Geometry>

‎control/autoware_pid_longitudinal_controller/package.xml

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@@ -21,6 +21,7 @@
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<depend>autoware_adapi_v1_msgs</depend>
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<depend>autoware_control_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_trajectory_follower_base</depend>
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<depend>autoware_vehicle_info_utils</depend>
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<depend>autoware_vehicle_msgs</depend>
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<depend>diagnostic_msgs</depend>
@@ -36,7 +37,6 @@
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<depend>tf2_ros</depend>
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<depend>tier4_autoware_utils</depend>
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<depend>tier4_debug_msgs</depend>
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<depend>trajectory_follower_base</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>

‎control/trajectory_follower_base/CMakeLists.txt ‎control/autoware_trajectory_follower_base/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(trajectory_follower_base)
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project(autoware_trajectory_follower_base)
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find_package(autoware_cmake REQUIRED)
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autoware_package()

‎control/trajectory_follower_base/include/trajectory_follower_base/input_data.hpp ‎control/autoware_trajectory_follower_base/include/autoware_trajectory_follower_base/input_data.hpp

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@@ -12,8 +12,8 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
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#define TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
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#include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
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#include "autoware_planning_msgs/msg/trajectory.hpp"
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};
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} // namespace autoware::motion::control::trajectory_follower
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#endif // TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__INPUT_DATA_HPP_

‎control/trajectory_follower_base/include/trajectory_follower_base/lateral_controller_base.hpp ‎control/autoware_trajectory_follower_base/include/autoware_trajectory_follower_base/lateral_controller_base.hpp

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@@ -12,12 +12,12 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
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#define TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
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#include "autoware_trajectory_follower_base/input_data.hpp"
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#include "autoware_trajectory_follower_base/sync_data.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "trajectory_follower_base/input_data.hpp"
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#include "trajectory_follower_base/sync_data.hpp"
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#include "autoware_control_msgs/msg/lateral.hpp"
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} // namespace autoware::motion::control::trajectory_follower
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#endif // TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_

‎control/trajectory_follower_base/include/trajectory_follower_base/longitudinal_controller_base.hpp ‎control/autoware_trajectory_follower_base/include/autoware_trajectory_follower_base/longitudinal_controller_base.hpp

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@@ -12,12 +12,12 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
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#define TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
16+
#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
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18+
#include "autoware_trajectory_follower_base/input_data.hpp"
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#include "autoware_trajectory_follower_base/sync_data.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "trajectory_follower_base/input_data.hpp"
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#include "trajectory_follower_base/sync_data.hpp"
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#include "autoware_control_msgs/msg/longitudinal.hpp"
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@@ -46,4 +46,4 @@ class LongitudinalControllerBase
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} // namespace autoware::motion::control::trajectory_follower
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#endif // TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_

‎control/trajectory_follower_base/include/trajectory_follower_base/sync_data.hpp ‎control/autoware_trajectory_follower_base/include/autoware_trajectory_follower_base/sync_data.hpp

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@@ -12,8 +12,8 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
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#define TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
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namespace autoware::motion::control::trajectory_follower
1919
{
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} // namespace autoware::motion::control::trajectory_follower
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#endif // TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__SYNC_DATA_HPP_

‎control/trajectory_follower_base/include/trajectory_follower_base/visibility_control.hpp ‎control/autoware_trajectory_follower_base/include/autoware_trajectory_follower_base/visibility_control.hpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
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#define TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
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////////////////////////////////////////////////////////////////////////////////
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#if defined(__WIN32)
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#error "Unsupported Build Configuration"
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#endif
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#endif // TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_BASE__VISIBILITY_CONTROL_HPP_

‎control/trajectory_follower_base/package.xml ‎control/autoware_trajectory_follower_base/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">
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<name>trajectory_follower_base</name>
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<name>autoware_trajectory_follower_base</name>
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<version>1.0.0</version>
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<description>Library for generating lateral and longitudinal controls following a trajectory</description>
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‎control/trajectory_follower_base/src/lateral_controller_base.cpp ‎control/autoware_trajectory_follower_base/src/lateral_controller_base.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "trajectory_follower_base/lateral_controller_base.hpp"
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#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
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namespace autoware::motion::control::trajectory_follower
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{

‎control/trajectory_follower_base/src/longitudinal_controller_base.cpp ‎control/autoware_trajectory_follower_base/src/longitudinal_controller_base.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "trajectory_follower_base/longitudinal_controller_base.hpp"
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#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
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namespace autoware::motion::control::trajectory_follower
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{

‎control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp

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#ifndef PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
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#define PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
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#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
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#include "pure_pursuit/pure_pursuit.hpp"
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#include "pure_pursuit/pure_pursuit_viz.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "tf2_ros/buffer.h"
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#include "tf2_ros/transform_listener.h"
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#include "trajectory_follower_base/lateral_controller_base.hpp"
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#include <motion_utils/resample/resample.hpp>
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#include <motion_utils/trajectory/conversion.hpp>

‎control/pure_pursuit/package.xml

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<depend>autoware_control_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_trajectory_follower_base</depend>
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<depend>autoware_vehicle_info_utils</depend>
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<depend>boost</depend>
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<depend>geometry_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>tier4_autoware_utils</depend>
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<depend>tier4_debug_msgs</depend>
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<depend>trajectory_follower_base</depend>
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<depend>visualization_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>

‎control/trajectory_follower_node/README.md

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## Design
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This is a node of the functionalities implemented in the controller class derived from [trajectory_follower_base](../trajectory_follower_base/README.md#trajectory-follower) package. It has instances of those functionalities, gives them input data to perform calculations, and publishes control commands.
9+
This is a node of the functionalities implemented in the controller class derived from [autoware_trajectory_follower_base](../autoware_trajectory_follower_base/README.md#trajectory-follower) package. It has instances of those functionalities, gives them input data to perform calculations, and publishes control commands.
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By default, the controller instance with the `Controller` class as follows is used.
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```plantuml
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@startuml
15-
package trajectory_follower_base {
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package autoware_trajectory_follower_base {
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abstract class LateralControllerBase {
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longitudinal_sync_data_
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‎control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp

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#ifndef TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#define TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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18+
#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
19+
#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
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#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "tf2/utils.h"
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#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
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#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
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#include "tier4_autoware_utils/system/stop_watch.hpp"
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#include "trajectory_follower_base/lateral_controller_base.hpp"
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#include "trajectory_follower_base/longitudinal_controller_base.hpp"
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#include "trajectory_follower_node/visibility_control.hpp"
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#include <Eigen/Core>

‎control/trajectory_follower_node/package.xml

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<depend>autoware_mpc_lateral_controller</depend>
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<depend>autoware_pid_longitudinal_controller</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_trajectory_follower_base</depend>
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<depend>autoware_vehicle_info_utils</depend>
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<depend>autoware_vehicle_msgs</depend>
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<depend>motion_utils</depend>
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<depend>pure_pursuit</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>tier4_autoware_utils</depend>
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<depend>trajectory_follower_base</depend>
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<depend>visualization_msgs</depend>
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<exec_depend>ros2launch</exec_depend>

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