refactor(compare_map_segmentation)!: fix namespace and directory stru…

…cture (#7910) * feat: update namespace and directory structure for compare_map_segmentation code Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: update directory structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: add missing include Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jul 10, 2024 · ea0276a · ea0276a
1 parent 73febbd
commit ea0276a
Show file tree

Hide file tree

Showing 16 changed files with 108 additions and 80 deletions.
diff --git a/...ception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/...ception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
@@ -106,7 +106,7 @@ def create_compare_map_pipeline(self):
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
                 name="voxel_based_compare_map_filter",
                 remappings=[
                     ("input", down_sample_topic),

diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -391,7 +391,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::CompareElevationMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::CompareElevationMapFilterComponent",
                 name="compare_elevation_map_filter",
                 namespace="elevation_map",
                 remappings=[

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -260,7 +260,12 @@
   <group if="$(var launch_compare_map_pipeline)">
     <!-- use pointcloud container -->
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+      <composable_node
+        pkg="compare_map_segmentation"
+        plugin="autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
+        name="voxel_distance_based_compare_map_filter_node"
+        namespace=""
+      >
         <!-- topic remap -->
         <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
         <remap from="kinematic_state" to="/localization/kinematic_state"/>

diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt
@@ -21,23 +21,23 @@ include_directories(
   ${GRID_MAP_INCLUDE_DIR}
 )
 
-add_library(compare_map_segmentation SHARED
-  src/distance_based_compare_map_filter_nodelet.cpp
-  src/voxel_based_approximate_compare_map_filter_nodelet.cpp
-  src/voxel_based_compare_map_filter_nodelet.cpp
-  src/voxel_distance_based_compare_map_filter_nodelet.cpp
-  src/compare_elevation_map_filter_node.cpp
-  src/voxel_grid_map_loader.cpp
+add_library(${PROJECT_NAME} SHARED
+  src/distance_based_compare_map_filter/node.cpp
+  src/voxel_based_approximate_compare_map_filter/node.cpp
+  src/voxel_based_compare_map_filter/node.cpp
+  src/voxel_distance_based_compare_map_filter/node.cpp
+  src/compare_elevation_map_filter/node.cpp
+  src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
 )
 
-target_link_libraries(compare_map_segmentation
+target_link_libraries(${PROJECT_NAME}
   pointcloud_preprocessor::pointcloud_preprocessor_filter_base
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
 )
 
-ament_target_dependencies(compare_map_segmentation
+ament_target_dependencies(${PROJECT_NAME}
   grid_map_pcl
   grid_map_ros
   pcl_conversions
@@ -50,40 +50,40 @@ ament_target_dependencies(compare_map_segmentation
 )
 
 if(OPENMP_FOUND)
-  set_target_properties(compare_map_segmentation PROPERTIES
+  set_target_properties(${PROJECT_NAME} PROPERTIES
     COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
     LINK_FLAGS ${OpenMP_CXX_FLAGS}
   )
 endif()
 
 # ========== Compare Map Filter ==========
 # -- Distance Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::DistanceBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent"
   EXECUTABLE distance_based_compare_map_filter_node)
 
 # -- Voxel Based Approximate Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent"
   EXECUTABLE voxel_based_approximate_compare_map_filter_node)
 
 # -- Voxel Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent"
   EXECUTABLE voxel_based_compare_map_filter_node)
 
 # -- Voxel Distance Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
   EXECUTABLE voxel_distance_based_compare_map_filter_node)
 
 # -- Compare Elevation Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::CompareElevationMapFilterComponent"
   EXECUTABLE compare_elevation_map_filter_node)
 
 install(
-  TARGETS compare_map_segmentation
+  TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin

diff --git a/...src/compare_elevation_map_filter_node.cpp → ...src/compare_elevation_map_filter/node.cpp b/...src/compare_elevation_map_filter_node.cpp → ...src/compare_elevation_map_filter/node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/compare_elevation_map_filter_node.hpp"
+#include "node.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_cv/GridMapCvConverter.hpp>
@@ -33,7 +33,7 @@
 #include <string>
 #include <utility>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 CompareElevationMapFilterComponent::CompareElevationMapFilterComponent(
   const rclcpp::NodeOptions & options)
@@ -94,7 +94,8 @@ void CompareElevationMapFilterComponent::filter(
   output.header.stamp = input->header.stamp;
   output.header.frame_id = output_frame;
 }
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::CompareElevationMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::CompareElevationMapFilterComponent)
diff --git a/...ion/compare_elevation_map_filter_node.hpp → ...src/compare_elevation_map_filter/node.hpp b/...ion/compare_elevation_map_filter_node.hpp → ...src/compare_elevation_map_filter/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
-#define COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
+#ifndef COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
+#define COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
 
@@ -29,7 +29,7 @@
 #include <mutex>
 #include <string>
 #include <vector>
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filter
 {
@@ -56,6 +56,6 @@ class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filte
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CompareElevationMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
-#endif  // COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
+#endif  // COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
diff --git a/...ance_based_compare_map_filter_nodelet.cpp → ...istance_based_compare_map_filter/node.cpp b/...ance_based_compare_map_filter_nodelet.cpp → ...istance_based_compare_map_filter/node.cpp
@@ -12,15 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/segmentation/segment_differences.h>
 
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 void DistanceBasedStaticMapLoader::onMapCallback(
@@ -176,7 +179,8 @@ void DistanceBasedCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::DistanceBasedCompareMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent)
diff --git a/...ance_based_compare_map_filter_nodelet.hpp → ...istance_based_compare_map_filter/node.hpp b/...ance_based_compare_map_filter_nodelet.hpp → ...istance_based_compare_map_filter/node.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
-#define COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#ifndef DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_
+#define DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "voxel_grid_map_loader.hpp"
 
 #include <pcl/common/point_tests.h>  // for pcl::isFinite
 #include <pcl/filters/voxel_grid.h>
@@ -26,7 +26,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
@@ -114,8 +114,8 @@ class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::F
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 // clang-format off
-#endif  // COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#endif  // DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/...pproximate_compare_map_filter_nodelet.cpp → ...d_approximate_compare_map_filter/node.cpp b/...pproximate_compare_map_filter_nodelet.cpp → ...d_approximate_compare_map_filter/node.cpp
@@ -12,15 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/segmentation/segment_differences.h>
 
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 bool VoxelBasedApproximateStaticMapLoader::is_close_to_map(
@@ -145,8 +148,8 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent)
+  autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent)
diff --git a/...pproximate_compare_map_filter_nodelet.hpp → ...d_approximate_compare_map_filter/node.hpp b/...pproximate_compare_map_filter_nodelet.hpp → ...d_approximate_compare_map_filter/node.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
-#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#ifndef VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
+#define VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "voxel_grid_map_loader.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader
@@ -70,8 +70,8 @@ class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preproc
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 // clang-format off
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#endif  // VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/...oxel_based_compare_map_filter_nodelet.cpp → ...c/voxel_based_compare_map_filter/node.cpp b/...oxel_based_compare_map_filter_nodelet.cpp → ...c/voxel_based_compare_map_filter/node.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -21,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 using pointcloud_preprocessor::get_param;
 
@@ -106,7 +109,8 @@ void VoxelBasedCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::VoxelBasedCompareMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent)
diff --git a/...oxel_based_compare_map_filter_nodelet.hpp → ...c/voxel_based_compare_map_filter/node.hpp b/...oxel_based_compare_map_filter_nodelet.hpp → ...c/voxel_based_compare_map_filter/node.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
-#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#ifndef VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
+#define VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
-#include "compare_map_segmentation/voxel_grid_map_loader.hpp"
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/filters/voxel_grid.h>
@@ -24,7 +24,7 @@
 #include <memory>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter
 {
@@ -45,6 +45,6 @@ class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filt
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#endif  // VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_