fix(autoware_behavior_velocity_planner): fix build errors

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

Author: esteve

planning/behavior_velocity_planner/src/node.cpp

@@ -40,7 +40,7 @@
 
 namespace
 {
-rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node_ptr)
+rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr)
 {
   rclcpp::CallbackGroup::SharedPtr callback_group =
     node_ptr->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -81,44 +81,44 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   trigger_sub_path_with_lane_id_ =
     this->create_subscription<autoware_auto_planning_msgs::msg::PathWithLaneId>(
       "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1),
-      create_subscription_options(this));
+      createSubscriptionOptions(this));
 
   // Subscribers
   sub_predicted_objects_ =
     this->create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>(
       "~/input/dynamic_objects", 1,
       std::bind(&BehaviorVelocityPlannerNode::onPredictedObjects, this, _1),
-      create_subscription_options(this));
+      createSubscriptionOptions(this));
   sub_no_ground_pointcloud_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
     "~/input/no_ground_pointcloud", rclcpp::SensorDataQoS(),
     std::bind(&BehaviorVelocityPlannerNode::onNoGroundPointCloud, this, _1),
-    create_subscription_options(this));
+    createSubscriptionOptions(this));
   sub_vehicle_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>(
     "~/input/vehicle_odometry", 1, std::bind(&BehaviorVelocityPlannerNode::onOdometry, this, _1),
-    create_subscription_options(this));
+    createSubscriptionOptions(this));
   sub_acceleration_ = this->create_subscription<geometry_msgs::msg::AccelWithCovarianceStamped>(
     "~/input/accel", 1, std::bind(&BehaviorVelocityPlannerNode::onAcceleration, this, _1),
-    create_subscription_options(this));
+    createSubscriptionOptions(this));
   sub_lanelet_map_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
     "~/input/vector_map", rclcpp::QoS(10).transient_local(),
     std::bind(&BehaviorVelocityPlannerNode::onLaneletMap, this, _1),
-    create_subscription_options(this));
+    createSubscriptionOptions(this));
   sub_traffic_signals_ =
     this->create_subscription<autoware_perception_msgs::msg::TrafficSignalArray>(
       "~/input/traffic_signals", 1,
       std::bind(&BehaviorVelocityPlannerNode::onTrafficSignals, this, _1),
-      create_subscription_options(this));
+      createSubscriptionOptions(this));
   sub_external_velocity_limit_ = this->create_subscription<VelocityLimit>(
     "~/input/external_velocity_limit_mps", rclcpp::QoS{1}.transient_local(),
     std::bind(&BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1));
   sub_virtual_traffic_light_states_ =
     this->create_subscription<tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>(
       "~/input/virtual_traffic_light_states", 1,
       std::bind(&BehaviorVelocityPlannerNode::onVirtualTrafficLightStates, this, _1),
-      create_subscription_options(this));
+      createSubscriptionOptions(this));
   sub_occupancy_grid_ = this->create_subscription<nav_msgs::msg::OccupancyGrid>(
     "~/input/occupancy_grid", 1, std::bind(&BehaviorVelocityPlannerNode::onOccupancyGrid, this, _1),
-    create_subscription_options(this));
+    createSubscriptionOptions(this));
 
   srv_load_plugin_ = create_service<LoadPlugin>(
     "~/service/load_plugin", std::bind(&BehaviorVelocityPlannerNode::onLoadPlugin, this, _1, _2));
@@ -152,7 +152,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   // Initialize PlannerManager
   for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
     // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
-    if (name.empty()) {
+    if (name == "") {
       break;
     }
     planner_manager_.launchScenePlugin(*this, name);
@@ -180,7 +180,7 @@ void BehaviorVelocityPlannerNode::onUnloadPlugin(
 
 // NOTE: argument planner_data must not be referenced for multithreading
 bool BehaviorVelocityPlannerNode::isDataReady(
-  const PlannerData & planner_data, rclcpp::Clock clock) const
+  const PlannerData planner_data, rclcpp::Clock clock) const
 {
   const auto & d = planner_data;
 
@@ -434,12 +434,11 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
     std::make_shared<const PlannerData>(planner_data), *input_path_msg);
 
   // screening
-  const auto filtered_path =
-    ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
+  const auto filtered_path = ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
 
   // interpolation
-  const auto interpolated_path_msg = ::behavior_velocity_planner::interpolatePath(
-    filtered_path, forward_path_length_, behavior_output_path_interval_);
+  const auto interpolated_path_msg =
+    ::behavior_velocity_planner::interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
 
   // check stop point
   output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg);

planning/behavior_velocity_planner/src/node.hpp

@@ -114,7 +114,7 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   BehaviorVelocityPlannerManager planner_manager_;
   bool is_driving_forward_{true};
   HADMapBin::ConstSharedPtr map_ptr_{nullptr};
-  bool has_received_map_{};
+  bool has_received_map_;
 
   rclcpp::Service<LoadPlugin>::SharedPtr srv_load_plugin_;
   rclcpp::Service<UnloadPlugin>::SharedPtr srv_unload_plugin_;
@@ -129,7 +129,7 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
 
   // function
   geometry_msgs::msg::PoseStamped getCurrentPose();
-  bool isDataReady(const PlannerData & planner_data, rclcpp::Clock clock) const;
+  bool isDataReady(const PlannerData planner_data, rclcpp::Clock clock) const;
   autoware_auto_planning_msgs::msg::Path generatePath(
     const autoware_auto_planning_msgs::msg::PathWithLaneId::ConstSharedPtr input_path_msg,
     const PlannerData & planner_data);

planning/behavior_velocity_planner/src/planner_manager.cpp

@@ -23,27 +23,27 @@ namespace autoware::behavior_velocity_planner
 {
 namespace
 {
-std::string json_dumps_pose(const geometry_msgs::msg::Pose & pose)
+std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose)
 {
-  const std::string json_dumps_pose =
+  const std::string jsonDumpsPose =
     (boost::format(
        R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") %
      pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x %
      pose.orientation.y % pose.orientation.z)
       .str();
-  return json_dumps_pose;
+  return jsonDumpsPose;
 }
 
-diagnostic_msgs::msg::DiagnosticStatus make_stop_reason_diag(
-  const std::string & stop_reason, const geometry_msgs::msg::Pose & stop_pose)
+diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag(
+  const std::string stop_reason, const geometry_msgs::msg::Pose & stop_pose)
 {
   diagnostic_msgs::msg::DiagnosticStatus stop_reason_diag;
   diagnostic_msgs::msg::KeyValue stop_reason_diag_kv;
   stop_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stop_reason_diag.name = "stop_reason";
   stop_reason_diag.message = stop_reason;
   stop_reason_diag_kv.key = "stop_pose";
-  stop_reason_diag_kv.value = json_dumps_pose(stop_pose);
+  stop_reason_diag_kv.value = jsonDumpsPose(stop_pose);
   stop_reason_diag.values.push_back(stop_reason_diag_kv);
   return stop_reason_diag;
 }
@@ -83,7 +83,7 @@ void BehaviorVelocityPlannerManager::removeScenePlugin(
 {
   auto it = std::remove_if(
     scene_manager_plugins_.begin(), scene_manager_plugins_.end(),
-    [&](const std::shared_ptr<autoware::behavior_velocity_planner::PluginInterface> & plugin) {
+    [&](const std::shared_ptr<autoware::behavior_velocity_planner::PluginInterface> plugin) {
       return plugin->getModuleName() == name;
     });
 
@@ -109,17 +109,17 @@ autoware_auto_planning_msgs::msg::PathWithLaneId BehaviorVelocityPlannerManager:
   for (const auto & plugin : scene_manager_plugins_) {
     plugin->updateSceneModuleInstances(planner_data, input_path_msg);
     plugin->plan(&output_path_msg);
-    const auto first_stop_path_point_index = plugin->getFirstStopPathPointIndex();
+    const auto firstStopPathPointIndex = plugin->getFirstStopPathPointIndex();
 
-    if (first_stop_path_point_index) {
-      if (first_stop_path_point_index.value() < first_stop_path_point_index) {
-        first_stop_path_point_index = first_stop_path_point_index.value();
+    if (firstStopPathPointIndex) {
+      if (firstStopPathPointIndex.value() < first_stop_path_point_index) {
+        first_stop_path_point_index = firstStopPathPointIndex.value();
         stop_reason_msg = plugin->getModuleName();
       }
     }
   }
 
-  stop_reason_diag_ = make_stop_reason_diag(
+  stop_reason_diag_ = makeStopReasonDiag(
     stop_reason_msg, output_path_msg.points[first_stop_path_point_index].point.pose);
 
   return output_path_msg;

planning/behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -26,7 +26,7 @@
 using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
-std::shared_ptr<PlanningInterfaceTestManager> generate_test_manager()
+std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
   auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
 
@@ -43,7 +43,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generate_test_manager()
   return test_manager;
 }
 
-std::shared_ptr<BehaviorVelocityPlannerNode> generate_node()
+std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
@@ -114,9 +114,9 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generate_node()
   return std::make_shared<BehaviorVelocityPlannerNode>(node_options);
 }
 
-void publish_mandatory_topics(
-  const std::shared_ptr<PlanningInterfaceTestManager> & test_manager,
-  const std::shared_ptr<BehaviorVelocityPlannerNode> & test_target_node)
+void publishMandatoryTopics(
+  std::shared_ptr<PlanningInterfaceTestManager> test_manager,
+  std::shared_ptr<BehaviorVelocityPlannerNode> test_target_node)
 {
   // publish necessary topics from test_manager
   test_manager->publishTF(test_target_node, "/tf");
@@ -142,10 +142,10 @@ void publish_mandatory_topics(
 TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
 {
   rclcpp::init(0, nullptr);
-  auto test_manager = generate_test_manager();
-  auto test_target_node = generate_node();
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
 
-  publish_mandatory_topics(test_manager, test_target_node);
+  publishMandatoryTopics(test_manager, test_target_node);
 
   // test with nominal path_with_lane_id
   ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
@@ -161,9 +161,9 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = generate_test_manager();
-  auto test_target_node = generate_node();
-  publish_mandatory_topics(test_manager, test_target_node);
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+  publishMandatoryTopics(test_manager, test_target_node);
 
   // test for normal trajectory
   ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));