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fix(autoware_static_centerline_generator): add autoware_ prefix
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent 8ff92b7 commit 36e7c06

23 files changed

+73
-73
lines changed

planning/static_centerline_generator/CMakeLists.txt

+4-4
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.14)
2-
project(static_centerline_generator)
2+
project(autoware_static_centerline_generator)
33

44
find_package(autoware_cmake REQUIRED)
55

@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
99
find_package(std_msgs REQUIRED)
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1111
rosidl_generate_interfaces(
12-
static_centerline_generator
12+
autoware_static_centerline_generator
1313
"srv/LoadMap.srv"
1414
"srv/PlanRoute.srv"
1515
"srv/PlanPath.srv"
@@ -29,10 +29,10 @@ ament_auto_add_executable(main
2929

3030
if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
3131
rosidl_target_interfaces(main
32-
static_centerline_generator "rosidl_typesupport_cpp")
32+
autoware_static_centerline_generator "rosidl_typesupport_cpp")
3333
else()
3434
rosidl_get_typesupport_target(
35-
cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
35+
cpp_typesupport_target autoware_static_centerline_generator "rosidl_typesupport_cpp")
3636
target_link_libraries(main "${cpp_typesupport_target}")
3737
endif()
3838

planning/static_centerline_generator/README.md

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@@ -34,7 +34,7 @@ We can run
3434
with the following command by designating `<vehicle_model>`
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3636
```sh
37-
ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
37+
ros2 launch autoware_static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
3838
```
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4040
FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
5050
- `<vehicle-model>`
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5252
```sh
53-
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>
5454
```
5555

5656
The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

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

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@@ -20,8 +20,8 @@
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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
26+
} // namespace autoware::static_centerline_generator
2727
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_

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

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@@ -20,7 +20,7 @@
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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
4242
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
4343
// clang-format on

planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

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@@ -17,9 +17,9 @@
1717

1818
#include "rclcpp/rclcpp.hpp"
1919
#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
20-
#include "static_centerline_generator/srv/load_map.hpp"
21-
#include "static_centerline_generator/srv/plan_path.hpp"
22-
#include "static_centerline_generator/srv/plan_route.hpp"
20+
#include "autoware_static_centerline_generator/srv/load_map.hpp"
21+
#include "autoware_static_centerline_generator/srv/plan_path.hpp"
22+
#include "autoware_static_centerline_generator/srv/plan_route.hpp"
2323
#include "static_centerline_generator/type_alias.hpp"
2424
#include "vehicle_info_util/vehicle_info_util.hpp"
2525

@@ -34,11 +34,11 @@
3434
#include <utility>
3535
#include <vector>
3636

37-
namespace static_centerline_generator
37+
namespace autoware::static_centerline_generator
3838
{
39-
using static_centerline_generator::srv::LoadMap;
40-
using static_centerline_generator::srv::PlanPath;
41-
using static_centerline_generator::srv::PlanRoute;
39+
using autoware_static_centerline_generator::srv::LoadMap;
40+
using autoware_static_centerline_generator::srv::PlanPath;
41+
using autoware_static_centerline_generator::srv::PlanRoute;
4242

4343
struct CenterlineWithRoute
4444
{
@@ -115,5 +115,5 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
115115
// vehicle info
116116
vehicle_info_util::VehicleInfo vehicle_info_;
117117
};
118-
} // namespace static_centerline_generator
118+
} // namespace autoware::static_centerline_generator
119119
#endif // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_

planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp

+2-2
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@@ -26,7 +26,7 @@
2626
#include "autoware_planning_msgs/msg/lanelet_route.hpp"
2727
#include "visualization_msgs/msg/marker_array.hpp"
2828

29-
namespace static_centerline_generator
29+
namespace autoware::static_centerline_generator
3030
{
3131
using autoware_auto_mapping_msgs::msg::HADMapBin;
3232
using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d;
4141
using tier4_autoware_utils::LineString2d;
4242
using tier4_autoware_utils::Point2d;
4343
using visualization_msgs::msg::MarkerArray;
44-
} // namespace static_centerline_generator
44+
} // namespace autoware::static_centerline_generator
4545

4646
#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_

planning/static_centerline_generator/include/static_centerline_generator/utils.hpp

+2-2
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@@ -24,7 +24,7 @@
2424
#include <string>
2525
#include <vector>
2626

27-
namespace static_centerline_generator
27+
namespace autoware::static_centerline_generator
2828
{
2929
namespace utils
3030
{
@@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker(
5353
const geometry_msgs::msg::Pose & pose, const double dist,
5454
const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
5555
} // namespace utils
56-
} // namespace static_centerline_generator
56+
} // namespace autoware::static_centerline_generator
5757

5858
#endif // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_

planning/static_centerline_generator/launch/run_planning_server.launch.xml

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@@ -2,11 +2,11 @@
22
<!-- mandatory arguments for planning-->
33
<arg name="vehicle_model"/>
44

5-
<include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
5+
<include file="$(find-pkg-share autoware_static_centerline_generator)/launch/static_centerline_generator.launch.xml">
66
<arg name="vehicle_model" value="$(var vehicle_model)"/>
77
<arg name="run_background" value="true"/>
88
</include>
99

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

+3-3
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@@ -55,7 +55,7 @@
5555
</node>
5656

5757
<!-- optimize path -->
58-
<node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
58+
<node pkg="autoware_static_centerline_generator" exec="main" name="autoware_static_centerline_generator">
5959
<remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
6060
<remap from="input_centerline" to="~/input_centerline"/>
6161
<remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
7979
<param from="$(var obstacle_avoidance_planner_param)"/>
8080
<param from="$(var mission_planner_param)"/>
8181
<!-- node param -->
82-
<param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
82+
<param from="$(find-pkg-share autoware_static_centerline_generator)/config/autoware_static_centerline_generator.param.yaml"/>
8383
<param name="centerline_source" value="$(var centerline_source)"/>
8484
<param name="bag_filename" value="$(var bag_filename)"/>
8585
</node>
8686

8787
<!-- 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 $(find-pkg-share autoware_static_centerline_generator)/rviz/autoware_static_centerline_generator.rviz" if="$(var rviz)"/>
8989
</launch>

planning/static_centerline_generator/package.xml

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@@ -1,9 +1,9 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<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>
77
<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

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@@ -130,7 +130,7 @@ Visualization Manager:
130130
Filter size: 10
131131
History Policy: Keep Last
132132
Reliability Policy: Reliable
133-
Value: /static_centerline_generator/input_centerline
133+
Value: /autoware_static_centerline_generator/input_centerline
134134
Value: true
135135
View Drivable Area:
136136
Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
179179
Filter size: 10
180180
History Policy: Keep Last
181181
Reliability Policy: Reliable
182-
Value: /static_centerline_generator/output_centerline
182+
Value: /autoware_static_centerline_generator/output_centerline
183183
Value: true
184184
View Footprint:
185185
Alpha: 1
@@ -222,7 +222,7 @@ Visualization Manager:
222222
Filter size: 10
223223
History Policy: Keep Last
224224
Reliability Policy: Reliable
225-
Value: /static_centerline_generator/debug/raw_centerline
225+
Value: /autoware_static_centerline_generator/debug/raw_centerline
226226
Value: false
227227
View Drivable Area:
228228
Alpha: 0.9990000128746033
@@ -268,7 +268,7 @@ Visualization Manager:
268268
Durability Policy: Transient Local
269269
History Policy: Keep Last
270270
Reliability Policy: Reliable
271-
Value: /static_centerline_generator/debug/unsafe_footprints
271+
Value: /autoware_static_centerline_generator/debug/unsafe_footprints
272272
Value: true
273273
Enabled: false
274274
Name: debug

planning/static_centerline_generator/scripts/app.py

+6-6
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@@ -23,9 +23,9 @@
2323
from flask_cors import CORS
2424
import rclpy
2525
from rclpy.node import Node
26-
from static_centerline_generator.srv import LoadMap
27-
from static_centerline_generator.srv import PlanPath
28-
from static_centerline_generator.srv import PlanRoute
26+
from autoware_static_centerline_generator.srv import LoadMap
27+
from autoware_static_centerline_generator.srv import PlanPath
28+
from autoware_static_centerline_generator.srv import PlanRoute
2929

3030
rclpy.init()
3131
node = Node("static_centerline_generator_http_server")
@@ -51,7 +51,7 @@ def get_map():
5151
map_id = map_uuid
5252

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")
5555

5656
# request map loading
5757
req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
8585
print("map_id is not correct.")
8686

8787
# 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")
8989

9090
# request route planning
9191
req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
123123
print("map_id is not correct.")
124124

125125
# create client
126-
cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
126+
cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path")
127127

128128
# request path planning
129129
route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]

planning/static_centerline_generator/scripts/centerline_updater_helper.py

+1-1
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@@ -155,7 +155,7 @@ def __init__(self):
155155
transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
156156
self.sub_whole_centerline = self.create_subscription(
157157
Trajectory,
158-
"/static_centerline_generator/output_whole_centerline",
158+
"/autoware_static_centerline_generator/output_whole_centerline",
159159
self.onWholeCenterline,
160160
transient_local_qos,
161161
)

planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py

+3-3
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@@ -98,8 +98,8 @@ def remove_diff_to_ignore(osm_root):
9898
)
9999
args = parser.parse_args()
100100

101-
original_osm_file_name = "/tmp/static_centerline_generator/input/lanelet2_map.osm"
102-
modified_osm_file_name = "/tmp/static_centerline_generator/output/lanelet2_map.osm"
101+
original_osm_file_name = "/tmp/autoware_static_centerline_generator/input/lanelet2_map.osm"
102+
modified_osm_file_name = "/tmp/autoware_static_centerline_generator/output/lanelet2_map.osm"
103103

104104
# load LL2 maps
105105
original_osm_tree = ET.parse(original_osm_file_name)
@@ -118,7 +118,7 @@ def remove_diff_to_ignore(osm_root):
118118
remove_diff_to_ignore(modified_osm_root)
119119

120120
# 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)
123123
os.makedirs(output_dir_path + "modified/", exist_ok=True)
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Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
#!/bin/bash
22

3-
ros2 launch 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 static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus
3+
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
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
#!/bin/bash
22

3-
ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus
3+
ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$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

+2-2
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@@ -20,7 +20,7 @@
2020

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

23-
namespace static_centerline_generator
23+
namespace autoware::static_centerline_generator
2424
{
2525
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
2626
{
@@ -79,4 +79,4 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
7979

8080
return centerline_traj_points;
8181
}
82-
} // namespace static_centerline_generator
82+
} // namespace autoware::static_centerline_generator

planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp

+2-2
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@@ -22,7 +22,7 @@
2222
#include "static_centerline_generator/utils.hpp"
2323
#include "tier4_autoware_utils/ros/parameter.hpp"
2424

25-
namespace static_centerline_generator
25+
namespace autoware::static_centerline_generator
2626
{
2727
namespace
2828
{
@@ -180,4 +180,4 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
180180

181181
return whole_optimized_traj_points;
182182
}
183-
} // namespace static_centerline_generator
183+
} // namespace autoware::static_centerline_generator

planning/static_centerline_generator/src/main.cpp

+1-1
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@@ -21,7 +21,7 @@ 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>(node_options);
2525

2626
// get ros parameter
2727
const bool run_background = node->declare_parameter<bool>("run_background");

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