From 651d75bb950c3f673812fed62967b829c72675b1 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 10 Jul 2024 14:48:53 +0900
Subject: [PATCH] refactor(radar_scan_to_pointcloud2): fix namespace and
 directory structure (#7912)

* refactor(radar_scan_to_pointcloud2): fix namespace and directory structure

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor(radar_scan_to_pointcloud2): add PCL dependency and update CMakeLists.txt

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../radar_scan_to_pointcloud2/CMakeLists.txt    | 17 +++++++++++++----
 sensing/radar_scan_to_pointcloud2/package.xml   |  2 +-
 .../radar_scan_to_pointcloud2_node.cpp          |  8 ++++----
 .../radar_scan_to_pointcloud2_node.hpp          | 10 +++++-----
 4 files changed, 23 insertions(+), 14 deletions(-)
 rename sensing/radar_scan_to_pointcloud2/src/{radar_scan_to_pointcloud2_node => }/radar_scan_to_pointcloud2_node.cpp (95%)
 rename sensing/radar_scan_to_pointcloud2/{include/radar_scan_to_pointcloud2 => src}/radar_scan_to_pointcloud2_node.hpp (86%)

diff --git a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
index 6ec1759fc7d4d..44b668b49c87a 100644
--- a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
+++ b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
@@ -5,13 +5,22 @@ project(radar_scan_to_pointcloud2)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+find_package(PCL REQUIRED COMPONENTS common)
+
 # Targets
-ament_auto_add_library(radar_scan_to_pointcloud2_node_component SHARED
-  src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/radar_scan_to_pointcloud2_node.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  SYSTEM PUBLIC ${PCL_INCLUDE_DIRS}
+)
+target_link_libraries(${PROJECT_NAME}
+  ${PCL_LIBRARIES}
 )
 
-rclcpp_components_register_node(radar_scan_to_pointcloud2_node_component
-  PLUGIN "radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
   EXECUTABLE radar_scan_to_pointcloud2_node
 )
 
diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/radar_scan_to_pointcloud2/package.xml
index a9d4fe7ebda8f..c8c84ee3c8a4a 100644
--- a/sensing/radar_scan_to_pointcloud2/package.xml
+++ b/sensing/radar_scan_to_pointcloud2/package.xml
@@ -14,8 +14,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>libpcl-common</depend>
   <depend>pcl_conversions</depend>
-  <depend>pcl_ros</depend>
   <depend>radar_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
similarity index 95%
rename from sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
rename to sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
index 8874b744bced6..30f267eebc205 100644
--- a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
+++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp"
+#include "radar_scan_to_pointcloud2_node.hpp"
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_cloud.h>
@@ -87,7 +87,7 @@ sensor_msgs::msg::PointCloud2 toDopplerPointcloud2(const radar_msgs::msg::RadarS
 }
 }  // namespace
 
-namespace radar_scan_to_pointcloud2
+namespace autoware::radar_scan_to_pointcloud2
 {
 using radar_msgs::msg::RadarReturn;
 using radar_msgs::msg::RadarScan;
@@ -153,7 +153,7 @@ void RadarScanToPointcloud2Node::onData(const RadarScan::ConstSharedPtr radar_ms
   }
 }
 
-}  // namespace radar_scan_to_pointcloud2
+}  // namespace autoware::radar_scan_to_pointcloud2
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(radar_scan_to_pointcloud2::RadarScanToPointcloud2Node)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node)
diff --git a/sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
similarity index 86%
rename from sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp
rename to sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
index bb331609f606d..f758d149b184b 100644
--- a/sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp
+++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
-#define RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
+#ifndef RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
+#define RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -24,7 +24,7 @@
 #include <memory>
 #include <vector>
 
-namespace radar_scan_to_pointcloud2
+namespace autoware::radar_scan_to_pointcloud2
 {
 using radar_msgs::msg::RadarReturn;
 using radar_msgs::msg::RadarScan;
@@ -65,6 +65,6 @@ class RadarScanToPointcloud2Node : public rclcpp::Node
   NodeParam node_param_{};
 };
 
-}  // namespace radar_scan_to_pointcloud2
+}  // namespace autoware::radar_scan_to_pointcloud2
 
-#endif  // RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
+#endif  // RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_