feat: apply autoware_ prefix for mrm_handler (#9974)

* feat(mrm_handler): apply `autoware_` prefix (see below):

  Note:
    * In this commit, I did not organize a folder structure.
      The folder structure will be organized in the next some commits.
    * The changes will follow the Autoware's guideline as below:
        - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* rename(mrm_handler): move a header under `include/autoware`:

  * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* fix(mrm_handler): fix include header path

  * To follow the previous commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* rename: `mrm_handler` => `autoware_mrm_handler`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(tier4_system_launch): fix a missing `autoware_` for `mrm_handler`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(mrm_handler): revert wrongly updated copyrights

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* update(mrm_handler): `README.md`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(autoware_mrm_handler): fix a critical bug that contaminates topic name

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

---------

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

launch/tier4_system_launch/launch/system.launch.xml

@@ -105,7 +105,7 @@
 
     <!-- MRM Handler -->
     <group>
-      <include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
+      <include file="$(find-pkg-share autoware_mrm_handler)/launch/mrm_handler.launch.xml">
         <arg name="config_file" value="$(var mrm_handler_param_path)"/>
       </include>
     </group>

system/mrm_handler/CMakeLists.txt → system/autoware_mrm_handler/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(mrm_handler)
+project(autoware_mrm_handler)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "MrmHandler"
+  PLUGIN "autoware::mrm_handler::MrmHandler"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

system/mrm_handler/README.md → system/autoware_mrm_handler/README.md

@@ -37,7 +37,7 @@ MRM Handler is a node to select a proper MRM from a system failure state contain
 
 ## Parameters
 
-{{ json_to_markdown("system/mrm_handler/schema/mrm_handler.schema.json") }}
+{{ json_to_markdown("system/autoware_mrm_handler/schema/mrm_handler.schema.json") }}
 
 ## Assumptions / Known limits
 

system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp → system/autoware_mrm_handler/include/autoware/mrm_handler/mrm_handler_core.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MRM_HANDLER__MRM_HANDLER_CORE_HPP_
-#define MRM_HANDLER__MRM_HANDLER_CORE_HPP_
+#ifndef AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_
+#define AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_
 
 // Core
 #include <memory>
@@ -41,6 +41,9 @@
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
+namespace autoware::mrm_handler
+{
+
 struct HazardLampPolicy
 {
   bool emergency;
@@ -162,4 +165,6 @@ class MrmHandler : public rclcpp::Node
   bool isArrivedAtGoal();
 };
 
-#endif  // MRM_HANDLER__MRM_HANDLER_CORE_HPP_
+}  // namespace autoware::mrm_handler
+
+#endif  // AUTOWARE__MRM_HANDLER__MRM_HANDLER_CORE_HPP_

system/mrm_handler/launch/mrm_handler.launch.xml → system/autoware_mrm_handler/launch/mrm_handler.launch.xml

@@ -17,10 +17,10 @@
   <arg name="output_mrm_comfortable_stop_operate" default="/system/mrm/comfortable_stop/operate"/>
   <arg name="output_mrm_emergency_stop_operate" default="/system/mrm/emergency_stop/operate"/>
 
-  <arg name="config_file" default="$(find-pkg-share mrm_handler)/config/mrm_handler.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_mrm_handler)/config/mrm_handler.param.yaml"/>
 
   <!-- mrm_handler -->
-  <node pkg="mrm_handler" exec="mrm_handler_node" name="mrm_handler" output="screen">
+  <node pkg="autoware_mrm_handler" exec="autoware_mrm_handler_node" name="mrm_handler" output="screen">
     <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/control_mode" to="$(var input_control_mode)"/>

system/mrm_handler/package.xml → system/autoware_mrm_handler/package.xml

@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>mrm_handler</name>
+  <name>autoware_mrm_handler</name>
   <version>0.40.0</version>
   <description>The mrm_handler ROS 2 package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="ryuta.kambe@tier4.jp">Ryuta Kambe</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">Tetsuhiro Kawaguchi</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp → system/autoware_mrm_handler/src/mrm_handler/mrm_handler_core.cpp

@@ -11,13 +11,16 @@
 // CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language
 // governing permissions and limitations under the License.
 
-#include "mrm_handler/mrm_handler_core.hpp"
+#include "autoware/mrm_handler/mrm_handler_core.hpp"
 
 #include <chrono>
 #include <memory>
 #include <string>
 #include <utility>
 
+namespace autoware::mrm_handler
+{
+
 MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler", options)
 {
   // Parameter
@@ -583,5 +586,7 @@ bool MrmHandler::isArrivedAtGoal()
   return state->mode == OperationModeState::STOP;
 }
 
+}  // namespace autoware::mrm_handler
+
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(MrmHandler)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mrm_handler::MrmHandler)