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feat(default_ad_api_helpers): apply autoware_ prefix:
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>
1 parent 9c0e183 commit ebbceb8

16 files changed

+54
-51
lines changed

system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt

+5-5
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(ad_api_adaptors)
2+
project(autoware_ad_api_adaptors)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -10,14 +10,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
1010
)
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1212
rclcpp_components_register_node(${PROJECT_NAME}
13-
PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
14-
EXECUTABLE initial_pose_adaptor_node
13+
PLUGIN "autoware::ad_api_adaptors::InitialPoseAdaptor"
14+
EXECUTABLE autoware_initial_pose_adaptor_node
1515
EXECUTOR MultiThreadedExecutor
1616
)
1717

1818
rclcpp_components_register_node(${PROJECT_NAME}
19-
PLUGIN "ad_api_adaptors::RoutingAdaptor"
20-
EXECUTABLE routing_adaptor_node
19+
PLUGIN "autoware::ad_api_adaptors::RoutingAdaptor"
20+
EXECUTABLE autoware_routing_adaptor_node
2121
EXECUTOR SingleThreadedExecutor
2222
)
2323

system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml

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@@ -3,16 +3,16 @@
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44
<group>
55
<push-ros-namespace namespace="default_ad_api/helpers"/>
6-
<node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
7-
<param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
6+
<node pkg="autoware_ad_api_adaptors" exec="autoware_initial_pose_adaptor_node">
7+
<param from="$(find-pkg-share autoware_ad_api_adaptors)/config/initial_pose.param.yaml"/>
88
<param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
99
<param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
1010
<remap from="~/initialpose" to="/initialpose"/>
1111
<remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
1212
<remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
1313
<remap from="~/vector_map" to="/map/vector_map"/>
1414
</node>
15-
<node pkg="ad_api_adaptors" exec="routing_adaptor_node">
15+
<node pkg="autoware_ad_api_adaptors" exec="autoware_routing_adaptor_node">
1616
<remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
1717
<remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
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<remap from="~/input/reroute" to="/rviz/routing/reroute"/>

system/default_ad_api_helpers/ad_api_adaptors/package.xml

+2-1
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,13 @@
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>ad_api_adaptors</name>
4+
<name>autoware_ad_api_adaptors</name>
55
<version>0.40.0</version>
66
<description>The ad_api_adaptors package</description>
77
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
88
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
99
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
10+
<maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
1011
<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp

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@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
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// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -18,7 +18,7 @@
1818
#include <string>
1919
#include <vector>
2020

21-
namespace ad_api_adaptors
21+
namespace autoware::ad_api_adaptors
2222
{
2323
template <class ServiceT>
2424
using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
@@ -35,7 +35,7 @@ std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::
3535
}
3636

3737
InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
38-
: Node("initial_pose_adaptor", options), fitter_(this)
38+
: Node("autoware_initial_pose_adaptor", options), fitter_(this)
3939
{
4040
rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
4141
sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
@@ -60,7 +60,7 @@ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstS
6060
cli_initialize_->async_send_request(req);
6161
}
6262

63-
} // namespace ad_api_adaptors
63+
} // namespace autoware::ad_api_adaptors
6464

6565
#include <rclcpp_components/register_node_macro.hpp>
66-
RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)
66+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ad_api_adaptors::InitialPoseAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp

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@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
1+
// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef INITIAL_POSE_ADAPTOR_HPP_
16-
#define INITIAL_POSE_ADAPTOR_HPP_
15+
#ifndef AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_
16+
#define AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_
1717

1818
#include <autoware/adapi_specs/localization.hpp>
1919
#include <autoware/component_interface_utils/rclcpp.hpp>
@@ -22,7 +22,7 @@
2222

2323
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
2424

25-
namespace ad_api_adaptors
25+
namespace autoware::ad_api_adaptors
2626
{
2727

2828
class InitialPoseAdaptor : public rclcpp::Node
@@ -41,6 +41,6 @@ class InitialPoseAdaptor : public rclcpp::Node
4141
void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
4242
};
4343

44-
} // namespace ad_api_adaptors
44+
} // namespace autoware::ad_api_adaptors
4545

46-
#endif // INITIAL_POSE_ADAPTOR_HPP_
46+
#endif // AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp

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@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
1+
// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -16,11 +16,11 @@
1616

1717
#include <memory>
1818

19-
namespace ad_api_adaptors
19+
namespace autoware::ad_api_adaptors
2020
{
2121

2222
RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
23-
: Node("routing_adaptor", options)
23+
: Node("autoware_routing_adaptor", options)
2424
{
2525
using std::placeholders::_1;
2626

@@ -109,7 +109,7 @@ void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
109109
cli_reroute_->async_send_request(route);
110110
}
111111

112-
} // namespace ad_api_adaptors
112+
} // namespace autoware::ad_api_adaptors
113113

114114
#include <rclcpp_components/register_node_macro.hpp>
115-
RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)
115+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ad_api_adaptors::RoutingAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp

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@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
1+
// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef ROUTING_ADAPTOR_HPP_
16-
#define ROUTING_ADAPTOR_HPP_
15+
#ifndef AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_
16+
#define AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_
1717

1818
#include <autoware/adapi_specs/routing.hpp>
1919
#include <autoware/component_interface_utils/rclcpp.hpp>
@@ -23,7 +23,7 @@
2323

2424
#include <string>
2525

26-
namespace ad_api_adaptors
26+
namespace autoware::ad_api_adaptors
2727
{
2828

2929
class RoutingAdaptor : public rclcpp::Node
@@ -59,6 +59,6 @@ class RoutingAdaptor : public rclcpp::Node
5959
void on_reroute(const PoseStamped::ConstSharedPtr pose);
6060
};
6161

62-
} // namespace ad_api_adaptors
62+
} // namespace autoware::ad_api_adaptors
6363

64-
#endif // ROUTING_ADAPTOR_HPP_
64+
#endif // AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py

+1-1
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@@ -60,7 +60,7 @@
6060

6161
class PlanningFactorVisualizer(rclpy.node.Node):
6262
def __init__(self):
63-
super().__init__("planning_factor_visualizer")
63+
super().__init__("autoware_planning_factor_visualizer")
6464
self.front_offset = self.declare_parameter("front_offset", 0.0).value
6565
self.pub_velocity = self.create_publisher(MarkerArray, "/visualizer/velocity_factors", 1)
6666
self.pub_steering = self.create_publisher(MarkerArray, "/visualizer/steering_factors", 1)
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
<launch>
2-
<node pkg="ad_api_visualizers" name="planning_factors" exec="planning_factors">
2+
<node pkg="autoware_ad_api_visualizers" name="planning_factors" exec="planning_factors">
33
<param name="front_offset" value="0.0"/>
44
</node>
55
</launch>

system/default_ad_api_helpers/ad_api_visualizers/package.xml

+2-1
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@@ -1,12 +1,13 @@
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>ad_api_visualizers</name>
4+
<name>autoware_ad_api_visualizers</name>
55
<version>0.40.0</version>
66
<description>The ad_api_visualizers package</description>
77
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
88
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
99
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
10+
<maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
1011
<license>Apache License 2.0</license>
1112

1213
<exec_depend>autoware_adapi_v1_msgs</exec_depend>

system/default_ad_api_helpers/ad_api_visualizers/setup.py

+2-2
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@@ -7,7 +7,7 @@
77
simplefilter("ignore", category=SetuptoolsDeprecationWarning)
88
simplefilter("ignore", category=PkgResourcesDeprecationWarning)
99

10-
package_name = "ad_api_visualizers"
10+
package_name = "autoware_ad_api_visualizers"
1111

1212
setup(
1313
name=package_name,
@@ -26,6 +26,6 @@
2626
license="Apache License 2.0",
2727
tests_require=["pytest"],
2828
entry_points={
29-
"console_scripts": ["planning_factors = ad_api_visualizers.planning_factors:main"],
29+
"console_scripts": ["planning_factors = autoware_ad_api_visualizers.planning_factors:main"],
3030
},
3131
)

system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt

+2-2
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@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(automatic_pose_initializer)
2+
project(autoware_automatic_pose_initializer)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
99
)
1010

1111
rclcpp_components_register_node(${PROJECT_NAME}
12-
PLUGIN "automatic_pose_initializer::AutomaticPoseInitializer"
12+
PLUGIN "autoware::automatic_pose_initializer::AutomaticPoseInitializer"
1313
EXECUTABLE ${PROJECT_NAME}_node
1414
EXECUTOR MultiThreadedExecutor
1515
)
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<launch>
22
<group>
33
<push-ros-namespace namespace="default_ad_api/helpers"/>
4-
<node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
4+
<node pkg="autoware_automatic_pose_initializer" exec="autoware_automatic_pose_initializer_node"/>
55
</group>
66
</launch>

system/default_ad_api_helpers/automatic_pose_initializer/package.xml

+2-1
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@@ -1,12 +1,13 @@
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>automatic_pose_initializer</name>
4+
<name>autoware_automatic_pose_initializer</name>
55
<version>0.40.0</version>
66
<description>The automatic_pose_initializer package</description>
77
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
88
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
99
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
10+
<maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
1011
<license>Apache License 2.0</license>
1112

1213
<buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp

+5-5
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@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
1+
// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -16,11 +16,11 @@
1616

1717
#include <memory>
1818

19-
namespace automatic_pose_initializer
19+
namespace autoware::automatic_pose_initializer
2020
{
2121

2222
AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
23-
: Node("automatic_pose_initializer", options)
23+
: Node("autoware_automatic_pose_initializer", options)
2424
{
2525
const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
2626
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -47,7 +47,7 @@ void AutomaticPoseInitializer::on_timer()
4747
timer_->reset();
4848
}
4949

50-
} // namespace automatic_pose_initializer
50+
} // namespace autoware::automatic_pose_initializer
5151

5252
#include <rclcpp_components/register_node_macro.hpp>
53-
RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)
53+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::automatic_pose_initializer::AutomaticPoseInitializer)

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2022 TIER IV, Inc.
1+
// Copyright 2025 TIER IV, Inc.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOMATIC_POSE_INITIALIZER_HPP_
16-
#define AUTOMATIC_POSE_INITIALIZER_HPP_
15+
#ifndef AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_
16+
#define AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_
1717

1818
#include <autoware/adapi_specs/localization.hpp>
1919
#include <autoware/component_interface_utils/rclcpp.hpp>
2020
#include <rclcpp/rclcpp.hpp>
2121

22-
namespace automatic_pose_initializer
22+
namespace autoware::automatic_pose_initializer
2323
{
2424

2525
class AutomaticPoseInitializer : public rclcpp::Node
@@ -38,6 +38,6 @@ class AutomaticPoseInitializer : public rclcpp::Node
3838
State::Message state_;
3939
};
4040

41-
} // namespace automatic_pose_initializer
41+
} // namespace autoware::automatic_pose_initializer
4242

43-
#endif // AUTOMATIC_POSE_INITIALIZER_HPP_
43+
#endif // AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_

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