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>

Author: sasakisasaki

system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(ad_api_adaptors)
+project(autoware_ad_api_adaptors)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,14 +10,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
-  EXECUTABLE initial_pose_adaptor_node
+  PLUGIN "autoware::ad_api_adaptors::InitialPoseAdaptor"
+  EXECUTABLE autoware_initial_pose_adaptor_node
   EXECUTOR MultiThreadedExecutor
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::RoutingAdaptor"
-  EXECUTABLE routing_adaptor_node
+  PLUGIN "autoware::ad_api_adaptors::RoutingAdaptor"
+  EXECUTABLE autoware_routing_adaptor_node
   EXECUTOR SingleThreadedExecutor
 )
 

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

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

system/default_ad_api_helpers/ad_api_adaptors/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>ad_api_adaptors</name>
+  <name>autoware_ad_api_adaptors</name>
   <version>0.40.0</version>
   <description>The ad_api_adaptors package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,7 +18,7 @@
 #include <string>
 #include <vector>
 
-namespace ad_api_adaptors
+namespace autoware::ad_api_adaptors
 {
 template <class ServiceT>
 using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
@@ -35,7 +35,7 @@ std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::
 }
 
 InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
-: Node("initial_pose_adaptor", options), fitter_(this)
+: Node("autoware_initial_pose_adaptor", options), fitter_(this)
 {
   rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
   sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
@@ -60,7 +60,7 @@ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstS
   cli_initialize_->async_send_request(req);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::ad_api_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ad_api_adaptors::InitialPoseAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INITIAL_POSE_ADAPTOR_HPP_
-#define INITIAL_POSE_ADAPTOR_HPP_
+#ifndef AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_
+#define AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_
 
 #include <autoware/adapi_specs/localization.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
@@ -22,7 +22,7 @@
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-namespace ad_api_adaptors
+namespace autoware::ad_api_adaptors
 {
 
 class InitialPoseAdaptor : public rclcpp::Node
@@ -41,6 +41,6 @@ class InitialPoseAdaptor : public rclcpp::Node
   void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::ad_api_adaptors
 
-#endif  // INITIAL_POSE_ADAPTOR_HPP_
+#endif  // AUTOWARE__AD_API_ADAPTORS__SRC__INITIAL_POSE_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace ad_api_adaptors
+namespace autoware::ad_api_adaptors
 {
 
 RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
-: Node("routing_adaptor", options)
+: Node("autoware_routing_adaptor", options)
 {
   using std::placeholders::_1;
 
@@ -109,7 +109,7 @@ void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
   cli_reroute_->async_send_request(route);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::ad_api_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ad_api_adaptors::RoutingAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROUTING_ADAPTOR_HPP_
-#define ROUTING_ADAPTOR_HPP_
+#ifndef AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_
+#define AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_
 
 #include <autoware/adapi_specs/routing.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
@@ -23,7 +23,7 @@
 
 #include <string>
 
-namespace ad_api_adaptors
+namespace autoware::ad_api_adaptors
 {
 
 class RoutingAdaptor : public rclcpp::Node
@@ -59,6 +59,6 @@ class RoutingAdaptor : public rclcpp::Node
   void on_reroute(const PoseStamped::ConstSharedPtr pose);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::ad_api_adaptors
 
-#endif  // ROUTING_ADAPTOR_HPP_
+#endif  // AUTOWARE__AD_API_ADAPTORS__SRC__ROUTING_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py

@@ -60,7 +60,7 @@
 
 class PlanningFactorVisualizer(rclpy.node.Node):
     def __init__(self):
-        super().__init__("planning_factor_visualizer")
+        super().__init__("autoware_planning_factor_visualizer")
         self.front_offset = self.declare_parameter("front_offset", 0.0).value
         self.pub_velocity = self.create_publisher(MarkerArray, "/visualizer/velocity_factors", 1)
         self.pub_steering = self.create_publisher(MarkerArray, "/visualizer/steering_factors", 1)

system/default_ad_api_helpers/ad_api_visualizers/launch/ad_api_visualizers.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-  <node pkg="ad_api_visualizers" name="planning_factors" exec="planning_factors">
+  <node pkg="autoware_ad_api_visualizers" name="planning_factors" exec="planning_factors">
     <param name="front_offset" value="0.0"/>
   </node>
 </launch>

system/default_ad_api_helpers/ad_api_visualizers/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>ad_api_visualizers</name>
+  <name>autoware_ad_api_visualizers</name>
   <version>0.40.0</version>
   <description>The ad_api_visualizers package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>autoware_adapi_v1_msgs</exec_depend>

system/default_ad_api_helpers/ad_api_visualizers/setup.py

@@ -7,7 +7,7 @@
 simplefilter("ignore", category=SetuptoolsDeprecationWarning)
 simplefilter("ignore", category=PkgResourcesDeprecationWarning)
 
-package_name = "ad_api_visualizers"
+package_name = "autoware_ad_api_visualizers"
 
 setup(
     name=package_name,
@@ -26,6 +26,6 @@
     license="Apache License 2.0",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["planning_factors = ad_api_visualizers.planning_factors:main"],
+        "console_scripts": ["planning_factors = autoware_ad_api_visualizers.planning_factors:main"],
     },
 )

system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(automatic_pose_initializer)
+project(autoware_automatic_pose_initializer)
 
 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 "automatic_pose_initializer::AutomaticPoseInitializer"
+  PLUGIN "autoware::automatic_pose_initializer::AutomaticPoseInitializer"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
+    <node pkg="autoware_automatic_pose_initializer" exec="autoware_automatic_pose_initializer_node"/>
   </group>
 </launch>

system/default_ad_api_helpers/automatic_pose_initializer/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>automatic_pose_initializer</name>
+  <name>autoware_automatic_pose_initializer</name>
   <version>0.40.0</version>
   <description>The automatic_pose_initializer package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
-: Node("automatic_pose_initializer", options)
+: Node("autoware_automatic_pose_initializer", options)
 {
   const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
   group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -47,7 +47,7 @@ void AutomaticPoseInitializer::on_timer()
   timer_->reset();
 }
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::automatic_pose_initializer::AutomaticPoseInitializer)

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp

@@ -1,4 +1,4 @@
-// Copyright 2022 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOMATIC_POSE_INITIALIZER_HPP_
-#define AUTOMATIC_POSE_INITIALIZER_HPP_
+#ifndef AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_
+#define AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_
 
 #include <autoware/adapi_specs/localization.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 class AutomaticPoseInitializer : public rclcpp::Node
@@ -38,6 +38,6 @@ class AutomaticPoseInitializer : public rclcpp::Node
   State::Message state_;
 };
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
-#endif  // AUTOMATIC_POSE_INITIALIZER_HPP_
+#endif  // AUTOWARE__AUTOMATIC_POSE_INITIALIZER_HPP_