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feat: apply autoware_ prefix for evaluator/kinematic_evaluator (#9936)
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
1 parent de92439 commit 5872113

19 files changed

+79
-77
lines changed

‎.github/CODEOWNERS

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@@ -49,7 +49,7 @@ control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4
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control/predicted_path_checker/** berkay@leodrive.ai
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evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp
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evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp
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evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
52+
evaluator/autoware_kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp junya.sasaki@tier4.jp
5353
evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp junya.sasaki@tier4.jp
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evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp

‎evaluator/kinematic_evaluator/CHANGELOG.rst ‎evaluator/autoware_kinematic_evaluator/CHANGELOG.rst

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@@ -1,6 +1,6 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package kinematic_evaluator
3-
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2+
Changelog for package autoware_kinematic_evaluator
3+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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55
0.40.0 (2024-12-12)
66
-------------------

‎evaluator/kinematic_evaluator/CMakeLists.txt ‎evaluator/autoware_kinematic_evaluator/CMakeLists.txt

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@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(kinematic_evaluator)
2+
project(autoware_kinematic_evaluator)
33

44
if(NOT CMAKE_CXX_STANDARD)
55
set(CMAKE_CXX_STANDARD 14)
@@ -15,26 +15,25 @@ autoware_package()
1515
find_package(ament_cmake_auto REQUIRED)
1616
ament_auto_find_build_dependencies()
1717

18-
ament_auto_add_library(${PROJECT_NAME}_node SHARED
18+
ament_auto_add_library(${PROJECT_NAME} SHARED
1919
src/metrics_calculator.cpp
20-
src/${PROJECT_NAME}_node.cpp
2120
src/kinematic_evaluator_node.cpp
2221
src/metrics/kinematic_metrics.cpp
2322
)
2423

25-
rclcpp_components_register_node(${PROJECT_NAME}_node
26-
PLUGIN "kinematic_diagnostics::KinematicEvaluatorNode"
27-
EXECUTABLE ${PROJECT_NAME}
24+
rclcpp_components_register_node(${PROJECT_NAME}
25+
PLUGIN "autoware::kinematic_diagnostics::KinematicEvaluatorNode"
26+
EXECUTABLE ${PROJECT_NAME}_node
2827
)
2928

3029
if(BUILD_TESTING)
3130
find_package(ament_lint_auto REQUIRED)
3231
ament_lint_auto_find_test_dependencies()
33-
ament_add_gtest(test_${PROJECT_NAME}
32+
ament_add_gtest(test_kinematic_evaluator
3433
test/test_kinematic_evaluator_node.cpp
3534
)
36-
target_link_libraries(test_${PROJECT_NAME}
37-
${PROJECT_NAME}_node
35+
target_link_libraries(test_kinematic_evaluator
36+
${PROJECT_NAME}
3837
)
3938
endif()
4039

‎evaluator/autoware_kinematic_evaluator/README.md

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# autoware_kinematic_evaluator
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TBD
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5+
## Parameters
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{{json_to_markdown("evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json")}}

‎evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp ‎evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/kinematic_evaluator_node.hpp

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@@ -12,11 +12,11 @@
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// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
16-
#define KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
15+
#ifndef AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
16+
#define AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
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18+
#include "autoware/kinematic_evaluator/metrics_calculator.hpp"
1819
#include "autoware/universe_utils/math/accumulator.hpp"
19-
#include "kinematic_evaluator/metrics_calculator.hpp"
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#include "rclcpp/rclcpp.hpp"
2121
#include "tf2_ros/buffer.h"
2222
#include "tf2_ros/transform_listener.h"
@@ -31,7 +31,7 @@
3131
#include <unordered_map>
3232
#include <vector>
3333

34-
namespace kinematic_diagnostics
34+
namespace autoware::kinematic_diagnostics
3535
{
3636
using autoware::universe_utils::Accumulator;
3737
using diagnostic_msgs::msg::DiagnosticArray;
@@ -78,6 +78,6 @@ class KinematicEvaluatorNode : public rclcpp::Node
7878
std::array<std::deque<Accumulator<double>>, static_cast<size_t>(Metric::SIZE)> metric_stats_;
7979
std::unordered_map<Metric, Accumulator<double>> metrics_dict_;
8080
};
81-
} // namespace kinematic_diagnostics
81+
} // namespace autoware::kinematic_diagnostics
8282

83-
#endif // KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
83+
#endif // AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_

‎evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp ‎evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp

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@@ -12,14 +12,14 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
16-
#define KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
15+
#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
16+
#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
1717

1818
#include "autoware/universe_utils/math/accumulator.hpp"
1919

2020
#include <nav_msgs/msg/odometry.hpp>
2121

22-
namespace kinematic_diagnostics
22+
namespace autoware::kinematic_diagnostics
2323
{
2424
namespace metrics
2525
{
@@ -35,6 +35,6 @@ using nav_msgs::msg::Odometry;
3535
Accumulator<double> updateVelocityStats(const double & value, const Accumulator<double> stat_prev);
3636

3737
} // namespace metrics
38-
} // namespace kinematic_diagnostics
38+
} // namespace autoware::kinematic_diagnostics
3939

40-
#endif // KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
40+
#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_

‎evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/metric.hpp ‎evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/metric.hpp

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@@ -12,15 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
16-
#define KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
15+
#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
16+
#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
1717

1818
#include <iostream>
1919
#include <string>
2020
#include <unordered_map>
2121
#include <vector>
2222

23-
namespace kinematic_diagnostics
23+
namespace autoware::kinematic_diagnostics
2424
{
2525
/**
2626
* @brief Enumeration of velocity metrics
@@ -57,6 +57,6 @@ static struct CheckCorrectMaps
5757
} check;
5858

5959
} // namespace details
60-
} // namespace kinematic_diagnostics
60+
} // namespace autoware::kinematic_diagnostics
6161

62-
#endif // KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
62+
#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_

‎evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp ‎evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics_calculator.hpp

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@@ -12,17 +12,17 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
16-
#define KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
15+
#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
16+
#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
1717

18+
#include "autoware/kinematic_evaluator/metrics/metric.hpp"
19+
#include "autoware/kinematic_evaluator/parameters.hpp"
1820
#include "autoware/universe_utils/math/accumulator.hpp"
19-
#include "kinematic_evaluator/metrics/metric.hpp"
20-
#include "kinematic_evaluator/parameters.hpp"
2121

2222
#include "geometry_msgs/msg/pose.hpp"
2323
#include <nav_msgs/msg/odometry.hpp>
2424

25-
namespace kinematic_diagnostics
25+
namespace autoware::kinematic_diagnostics
2626
{
2727
using autoware::universe_utils::Accumulator;
2828
using nav_msgs::msg::Odometry;
@@ -52,6 +52,6 @@ class MetricsCalculator
5252
const Metric metric, const Odometry & odom, const Accumulator<double> stat_prev) const;
5353
}; // class MetricsCalculator
5454

55-
} // namespace kinematic_diagnostics
55+
} // namespace autoware::kinematic_diagnostics
5656

57-
#endif // KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
57+
#endif // AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_

‎evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp ‎evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/parameters.hpp

+6-6
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@@ -12,14 +12,14 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KINEMATIC_EVALUATOR__PARAMETERS_HPP_
16-
#define KINEMATIC_EVALUATOR__PARAMETERS_HPP_
15+
#ifndef AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_
16+
#define AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_
1717

18-
#include "kinematic_evaluator/metrics/metric.hpp"
18+
#include "autoware/kinematic_evaluator/metrics/metric.hpp"
1919

2020
#include <array>
2121

22-
namespace kinematic_diagnostics
22+
namespace autoware::kinematic_diagnostics
2323
{
2424
/**
2525
* @brief Enumeration of trajectory metrics
@@ -29,6 +29,6 @@ struct Parameters
2929
std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{}; // default values to false
3030
}; // struct Parameters
3131

32-
} // namespace kinematic_diagnostics
32+
} // namespace autoware::kinematic_diagnostics
3333

34-
#endif // KINEMATIC_EVALUATOR__PARAMETERS_HPP_
34+
#endif // AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_

‎evaluator/autoware_kinematic_evaluator/launch/kinematic_evaluator.launch.xml

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1+
<launch>
2+
<arg name="input/twist" default="/localization/kinematic_state"/>
3+
4+
<node pkg="autoware_kinematic_evaluator" exec="autoware_kinematic_evaluator_node" output="screen">
5+
<param from="$(find-pkg-share autoware_kinematic_evaluator)/param/kinematic_evaluator.defaults.yaml"/>
6+
<remap from="~/input/twist" to="$(var input/twist)"/>
7+
</node>
8+
</launch>

‎evaluator/kinematic_evaluator/package.xml ‎evaluator/autoware_kinematic_evaluator/package.xml

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11
<?xml version="1.0"?>
22
<package format="3">
3-
<name>kinematic_evaluator</name>
3+
<name>autoware_kinematic_evaluator</name>
44
<version>0.40.0</version>
55
<description>kinematic evaluator ROS 2 node</description>
66

@@ -11,6 +11,7 @@
1111
<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
1212
<maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
1313
<maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
14+
<maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
1415

1516
<license>Apache License 2.0</license>
1617

‎evaluator/kinematic_evaluator/param/kinematic_evaluator.defaults.yaml ‎evaluator/autoware_kinematic_evaluator/param/kinematic_evaluator.defaults.yaml

File renamed without changes.

‎evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json ‎evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json

File renamed without changes.

‎evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp ‎evaluator/autoware_kinematic_evaluator/src/kinematic_evaluator_node.cpp

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1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kinematic_evaluator/kinematic_evaluator_node.hpp"
15+
#include "autoware/kinematic_evaluator/kinematic_evaluator_node.hpp"
1616

1717
#include "boost/lexical_cast.hpp"
1818

@@ -22,7 +22,7 @@
2222
#include <string>
2323
#include <vector>
2424

25-
namespace kinematic_diagnostics
25+
namespace autoware::kinematic_diagnostics
2626
{
2727
KinematicEvaluatorNode::KinematicEvaluatorNode(const rclcpp::NodeOptions & node_options)
2828
: Node("kinematic_evaluator", node_options)
@@ -139,7 +139,7 @@ geometry_msgs::msg::Pose KinematicEvaluatorNode::getCurrentEgoPose() const
139139
return p;
140140
}
141141

142-
} // namespace kinematic_diagnostics
142+
} // namespace autoware::kinematic_diagnostics
143143

144144
#include "rclcpp_components/register_node_macro.hpp"
145-
RCLCPP_COMPONENTS_REGISTER_NODE(kinematic_diagnostics::KinematicEvaluatorNode)
145+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::kinematic_diagnostics::KinematicEvaluatorNode)

‎evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp ‎evaluator/autoware_kinematic_evaluator/src/metrics/kinematic_metrics.cpp

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@@ -12,19 +12,20 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kinematic_evaluator/metrics/kinematic_metrics.hpp"
15+
#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp"
1616

17-
namespace kinematic_diagnostics
17+
namespace autoware::kinematic_diagnostics
1818
{
1919
namespace metrics
2020
{
2121

22-
Accumulator<double> updateVelocityStats(const double & value, const Accumulator<double> stat_prev)
22+
autoware::universe_utils::Accumulator<double> updateVelocityStats(
23+
const double & value, const autoware::universe_utils::Accumulator<double> stat_prev)
2324
{
24-
Accumulator<double> stat(stat_prev);
25+
autoware::universe_utils::Accumulator<double> stat(stat_prev);
2526
stat.add(value);
2627
return stat;
2728
}
2829

2930
} // namespace metrics
30-
} // namespace kinematic_diagnostics
31+
} // namespace autoware::kinematic_diagnostics

‎evaluator/kinematic_evaluator/src/metrics_calculator.cpp ‎evaluator/autoware_kinematic_evaluator/src/metrics_calculator.cpp

+4-4
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@@ -12,11 +12,11 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kinematic_evaluator/metrics_calculator.hpp"
15+
#include "autoware/kinematic_evaluator/metrics_calculator.hpp"
1616

17-
#include "kinematic_evaluator/metrics/kinematic_metrics.hpp"
17+
#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp"
1818

19-
namespace kinematic_diagnostics
19+
namespace autoware::kinematic_diagnostics
2020
{
2121
Accumulator<double> MetricsCalculator::updateStat(
2222
const Metric metric, const Odometry & odom, const Accumulator<double> stat_prev) const
@@ -31,4 +31,4 @@ Accumulator<double> MetricsCalculator::updateStat(
3131
}
3232
}
3333

34-
} // namespace kinematic_diagnostics
34+
} // namespace autoware::kinematic_diagnostics

‎evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp ‎evaluator/autoware_kinematic_evaluator/test/test_kinematic_evaluator_node.cpp

+7-6
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1818
#include "rclcpp/time.hpp"
1919
#include "tf2_ros/transform_broadcaster.h"
2020

21-
#include <kinematic_evaluator/kinematic_evaluator_node.hpp>
21+
#include <autoware/kinematic_evaluator/kinematic_evaluator_node.hpp>
2222

2323
#include "diagnostic_msgs/msg/diagnostic_array.hpp"
2424
#include "geometry_msgs/msg/transform_stamped.hpp"
@@ -32,7 +32,7 @@
3232
#include <utility>
3333
#include <vector>
3434

35-
using EvalNode = kinematic_diagnostics::KinematicEvaluatorNode;
35+
using EvalNode = autoware::kinematic_diagnostics::KinematicEvaluatorNode;
3636
using diagnostic_msgs::msg::DiagnosticArray;
3737
using nav_msgs::msg::Odometry;
3838

@@ -44,7 +44,8 @@ class EvalTest : public ::testing::Test
4444
rclcpp::init(0, nullptr);
4545

4646
rclcpp::NodeOptions options;
47-
const auto share_dir = ament_index_cpp::get_package_share_directory("kinematic_evaluator");
47+
const auto share_dir =
48+
ament_index_cpp::get_package_share_directory("autoware_kinematic_evaluator");
4849
options.arguments(
4950
{"--ros-args", "--params-file", share_dir + "/param/kinematic_evaluator.defaults.yaml"});
5051

@@ -70,9 +71,9 @@ class EvalTest : public ::testing::Test
7071

7172
~EvalTest() override { /*rclcpp::shutdown();*/ }
7273

73-
void setTargetMetric(kinematic_diagnostics::Metric metric)
74+
void setTargetMetric(autoware::kinematic_diagnostics::Metric metric)
7475
{
75-
const auto metric_str = kinematic_diagnostics::metric_to_str.at(metric);
76+
const auto metric_str = autoware::kinematic_diagnostics::metric_to_str.at(metric);
7677
const auto is_target_metric = [metric_str](const auto & status) {
7778
return status.name == metric_str;
7879
};
@@ -130,7 +131,7 @@ class EvalTest : public ::testing::Test
130131

131132
TEST_F(EvalTest, TestVelocityStats)
132133
{
133-
setTargetMetric(kinematic_diagnostics::Metric::velocity_stats);
134+
setTargetMetric(autoware::kinematic_diagnostics::Metric::velocity_stats);
134135
Odometry odom = makeOdometry(0.0);
135136
EXPECT_DOUBLE_EQ(publishOdometryAndGetMetric(odom), 0.0);
136137
Odometry odom2 = makeOdometry(1.0);

‎evaluator/kinematic_evaluator/README.md

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‎evaluator/kinematic_evaluator/launch/kinematic_evaluator.launch.xml

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