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refactor(static_centerline_generator): change the package name from static_centerline_optimizer (#6795)
static_centerline_optimizer -> static_centerline_generator Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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‎.github/CODEOWNERS

+1-1
Original file line numberDiff line numberDiff line change
@@ -205,7 +205,7 @@ planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp
205205
planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp
206206
planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp
207207
planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
208-
planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
208+
planning/static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
209209
planning/surround_obstacle_checker/** satoshi.ota@tier4.jp
210210
sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
211211
sensing/image_diagnostics/** dai.nguyen@tier4.jp

‎map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py

+1-1
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@@ -61,7 +61,7 @@ def generate_test_description():
6161
LaunchDescription(
6262
[
6363
map_projection_loader_node,
64-
# Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
64+
# Start test after 1s - gives time for the static_centerline_generator to finish initialization
6565
launch.actions.TimerAction(
6666
period=1.0, actions=[launch_testing.actions.ReadyToTest()]
6767
),

‎map/map_projection_loader/test/test_node_load_local_from_yaml.test.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ def generate_test_description():
6161
LaunchDescription(
6262
[
6363
map_projection_loader_node,
64-
# Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
64+
# Start test after 1s - gives time for the static_centerline_generator to finish initialization
6565
launch.actions.TimerAction(
6666
period=1.0, actions=[launch_testing.actions.ReadyToTest()]
6767
),

‎map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ def generate_test_description():
6161
LaunchDescription(
6262
[
6363
map_projection_loader_node,
64-
# Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
64+
# Start test after 1s - gives time for the static_centerline_generator to finish initialization
6565
launch.actions.TimerAction(
6666
period=1.0, actions=[launch_testing.actions.ReadyToTest()]
6767
),

‎map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ def generate_test_description():
6161
LaunchDescription(
6262
[
6363
map_projection_loader_node,
64-
# Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
64+
# Start test after 1s - gives time for the static_centerline_generator to finish initialization
6565
launch.actions.TimerAction(
6666
period=1.0, actions=[launch_testing.actions.ReadyToTest()]
6767
),

‎planning/.pages

+1-1
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,7 @@ nav:
6767
- 'About Motion Velocity Smoother': planning/motion_velocity_smoother
6868
- 'About Motion Velocity Smoother (Japanese)': planning/motion_velocity_smoother/README.ja
6969
- 'Scenario Selector': planning/scenario_selector
70-
- 'Static Centerline Optimizer': planning/static_centerline_optimizer
70+
- 'Static Centerline Generator': planning/static_centerline_generator
7171
- 'API and Library':
7272
- 'Costmap Generator': planning/costmap_generator
7373
- 'External Velocity Limit Selector': planning/external_velocity_limit_selector

‎planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -39,12 +39,12 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
3939
public:
4040
explicit ObstacleAvoidancePlanner(const rclcpp::NodeOptions & node_options);
4141

42-
// NOTE: This is for the static_centerline_optimizer package which utilizes the following
42+
// NOTE: This is for the static_centerline_generator package which utilizes the following
4343
// instance.
4444
std::shared_ptr<MPTOptimizer> getMPTOptimizer() const { return mpt_optimizer_ptr_; }
4545

4646
// private:
47-
protected: // for the static_centerline_optimizer package
47+
protected: // for the static_centerline_generator package
4848
// TODO(murooka) move this node to common
4949
class DrivingDirectionChecker
5050
{

‎planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ class ElasticBandSmoother : public rclcpp::Node
3838
public:
3939
explicit ElasticBandSmoother(const rclcpp::NodeOptions & node_options);
4040

41-
// NOTE: This is for the static_centerline_optimizer package which utilizes the following
41+
// NOTE: This is for the static_centerline_generator package which utilizes the following
4242
// instance.
4343
std::shared_ptr<EBPathSmoother> getElasticBandSmoother() const { return eb_path_smoother_ptr_; }
4444

‎planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp

+1-1
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@@ -37,7 +37,7 @@ class PathSampler : public rclcpp::Node
3737
public:
3838
explicit PathSampler(const rclcpp::NodeOptions & node_options);
3939

40-
protected: // for the static_centerline_optimizer package
40+
protected: // for the static_centerline_generator package
4141
// argument variables
4242
vehicle_info_util::VehicleInfo vehicle_info_{};
4343
mutable DebugData debug_data_{};

‎planning/static_centerline_optimizer/CMakeLists.txt ‎planning/static_centerline_generator/CMakeLists.txt

+6-6
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(static_centerline_optimizer)
2+
project(static_centerline_generator)
33

44
find_package(autoware_cmake REQUIRED)
55

@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
99
find_package(std_msgs REQUIRED)
1010

1111
rosidl_generate_interfaces(
12-
static_centerline_optimizer
12+
static_centerline_generator
1313
"srv/LoadMap.srv"
1414
"srv/PlanRoute.srv"
1515
"srv/PlanPath.srv"
@@ -21,18 +21,18 @@ autoware_package()
2121

2222
ament_auto_add_executable(main
2323
src/main.cpp
24-
src/static_centerline_optimizer_node.cpp
24+
src/static_centerline_generator_node.cpp
2525
src/centerline_source/optimization_trajectory_based_centerline.cpp
2626
src/centerline_source/bag_ego_trajectory_based_centerline.cpp
2727
src/utils.cpp
2828
)
2929

3030
if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
3131
rosidl_target_interfaces(main
32-
static_centerline_optimizer "rosidl_typesupport_cpp")
32+
static_centerline_generator "rosidl_typesupport_cpp")
3333
else()
3434
rosidl_get_typesupport_target(
35-
cpp_typesupport_target static_centerline_optimizer "rosidl_typesupport_cpp")
35+
cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
3636
target_link_libraries(main "${cpp_typesupport_target}")
3737
endif()
3838

@@ -45,7 +45,7 @@ ament_auto_package(
4545

4646
if(BUILD_TESTING)
4747
add_launch_test(
48-
test/test_static_centerline_optimizer.test.py
48+
test/test_static_centerline_generator.test.py
4949
TIMEOUT "30"
5050
)
5151
install(DIRECTORY

‎planning/static_centerline_optimizer/README.md ‎planning/static_centerline_generator/README.md

+3-3
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@@ -1,4 +1,4 @@
1-
# Static Centerline Optimizer
1+
# Static Centerline Generator
22

33
## Purpose
44

@@ -34,7 +34,7 @@ We can run
3434
with the following command by designating `<vehicle_model>`
3535

3636
```sh
37-
ros2 launch static_centerline_optimizer run_planning_server.launch.xml vehicle_model:=<vehicle-model>
37+
ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
3838
```
3939

4040
FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
5050
- `<vehicle-model>`
5151

5252
```sh
53-
ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
53+
ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
5454
```
5555

5656
The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

‎planning/static_centerline_optimizer/config/common.param.yaml ‎planning/static_centerline_generator/config/common.param.yaml

File renamed without changes.

‎planning/static_centerline_optimizer/config/nearest_search.param.yaml ‎planning/static_centerline_generator/config/nearest_search.param.yaml

File renamed without changes.

‎planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml ‎planning/static_centerline_generator/config/static_centerline_generator.param.yaml

File renamed without changes.

‎planning/static_centerline_optimizer/config/vehicle_info.param.yaml ‎planning/static_centerline_generator/config/vehicle_info.param.yaml

File renamed without changes.

‎planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp ‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -12,16 +12,16 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
16-
#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
15+
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
16+
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
1717

1818
#include "rclcpp/rclcpp.hpp"
19-
#include "static_centerline_optimizer/type_alias.hpp"
19+
#include "static_centerline_generator/type_alias.hpp"
2020

2121
#include <vector>
2222

23-
namespace static_centerline_optimizer
23+
namespace static_centerline_generator
2424
{
2525
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
26-
} // namespace static_centerline_optimizer
27-
#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
26+
} // namespace static_centerline_generator
27+
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_

‎planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp ‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -12,15 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
16-
#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
15+
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
16+
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
1717

1818
#include "rclcpp/rclcpp.hpp"
19-
#include "static_centerline_optimizer/type_alias.hpp"
19+
#include "static_centerline_generator/type_alias.hpp"
2020

2121
#include <vector>
2222

23-
namespace static_centerline_optimizer
23+
namespace static_centerline_generator
2424
{
2525
class OptimizationTrajectoryBasedCenterline
2626
{
@@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline
3737
rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
3838
rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
3939
};
40-
} // namespace static_centerline_optimizer
40+
} // namespace static_centerline_generator
4141
// clang-format off
42-
#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
42+
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
4343
// clang-format on

‎planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp ‎planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

+15-15
Original file line numberDiff line numberDiff line change
@@ -12,15 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
16-
#define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
15+
#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
16+
#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
1717

1818
#include "rclcpp/rclcpp.hpp"
19-
#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp"
20-
#include "static_centerline_optimizer/srv/load_map.hpp"
21-
#include "static_centerline_optimizer/srv/plan_path.hpp"
22-
#include "static_centerline_optimizer/srv/plan_route.hpp"
23-
#include "static_centerline_optimizer/type_alias.hpp"
19+
#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
20+
#include "static_centerline_generator/srv/load_map.hpp"
21+
#include "static_centerline_generator/srv/plan_path.hpp"
22+
#include "static_centerline_generator/srv/plan_route.hpp"
23+
#include "static_centerline_generator/type_alias.hpp"
2424
#include "vehicle_info_util/vehicle_info_util.hpp"
2525

2626
#include <geography_utils/lanelet2_projector.hpp>
@@ -34,22 +34,22 @@
3434
#include <utility>
3535
#include <vector>
3636

37-
namespace static_centerline_optimizer
37+
namespace static_centerline_generator
3838
{
39-
using static_centerline_optimizer::srv::LoadMap;
40-
using static_centerline_optimizer::srv::PlanPath;
41-
using static_centerline_optimizer::srv::PlanRoute;
39+
using static_centerline_generator::srv::LoadMap;
40+
using static_centerline_generator::srv::PlanPath;
41+
using static_centerline_generator::srv::PlanRoute;
4242

4343
struct CenterlineWithRoute
4444
{
4545
std::vector<TrajectoryPoint> centerline{};
4646
std::vector<lanelet::Id> route_lane_ids{};
4747
};
4848

49-
class StaticCenterlineOptimizerNode : public rclcpp::Node
49+
class StaticCenterlineGeneratorNode : public rclcpp::Node
5050
{
5151
public:
52-
explicit StaticCenterlineOptimizerNode(const rclcpp::NodeOptions & node_options);
52+
explicit StaticCenterlineGeneratorNode(const rclcpp::NodeOptions & node_options);
5353
void run();
5454

5555
private:
@@ -115,5 +115,5 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node
115115
// vehicle info
116116
vehicle_info_util::VehicleInfo vehicle_info_;
117117
};
118-
} // namespace static_centerline_optimizer
119-
#endif // STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
118+
} // namespace static_centerline_generator
119+
#endif // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_

‎planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp ‎planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp

+5-5
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,8 @@
1111
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
14-
#ifndef STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
15-
#define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
14+
#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
15+
#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
1616

1717
#include "route_handler/route_handler.hpp"
1818
#include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -26,7 +26,7 @@
2626
#include "autoware_planning_msgs/msg/lanelet_route.hpp"
2727
#include "visualization_msgs/msg/marker_array.hpp"
2828

29-
namespace static_centerline_optimizer
29+
namespace static_centerline_generator
3030
{
3131
using autoware_auto_mapping_msgs::msg::HADMapBin;
3232
using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d;
4141
using tier4_autoware_utils::LineString2d;
4242
using tier4_autoware_utils::Point2d;
4343
using visualization_msgs::msg::MarkerArray;
44-
} // namespace static_centerline_optimizer
44+
} // namespace static_centerline_generator
4545

46-
#endif // STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
46+
#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_

‎planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp ‎planning/static_centerline_generator/include/static_centerline_generator/utils.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -12,19 +12,19 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
16-
#define STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
15+
#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
16+
#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
1717

1818
#include "route_handler/route_handler.hpp"
19-
#include "static_centerline_optimizer/type_alias.hpp"
19+
#include "static_centerline_generator/type_alias.hpp"
2020

2121
#include <rclcpp/time.hpp>
2222

2323
#include <memory>
2424
#include <string>
2525
#include <vector>
2626

27-
namespace static_centerline_optimizer
27+
namespace static_centerline_generator
2828
{
2929
namespace utils
3030
{
@@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker(
5353
const geometry_msgs::msg::Pose & pose, const double dist,
5454
const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
5555
} // namespace utils
56-
} // namespace static_centerline_optimizer
56+
} // namespace static_centerline_generator
5757

58-
#endif // STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
58+
#endif // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_

‎planning/static_centerline_optimizer/launch/run_planning_server.launch.xml ‎planning/static_centerline_generator/launch/run_planning_server.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,11 @@
22
<!-- mandatory arguments for planning-->
33
<arg name="vehicle_model"/>
44

5-
<include file="$(find-pkg-share static_centerline_optimizer)/launch/static_centerline_optimizer.launch.xml">
5+
<include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
66
<arg name="vehicle_model" value="$(var vehicle_model)"/>
77
<arg name="run_background" value="true"/>
88
</include>
99

1010
<!-- local server to connect path optimizer and cloud software -->
11-
<node pkg="static_centerline_optimizer" exec="app.py" name="static_centerline_optimizer_http_server" output="screen"/>
11+
<node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
1212
</launch>

‎planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml ‎planning/static_centerline_generator/launch/static_centerline_generator.launch.xml

+3-3
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@@ -55,7 +55,7 @@
5555
</node>
5656

5757
<!-- optimize path -->
58-
<node pkg="static_centerline_optimizer" exec="main" name="static_centerline_optimizer">
58+
<node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
5959
<remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
6060
<remap from="input_centerline" to="~/input_centerline"/>
6161
<remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
7979
<param from="$(var obstacle_avoidance_planner_param)"/>
8080
<param from="$(var mission_planner_param)"/>
8181
<!-- node param -->
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<param from="$(find-pkg-share static_centerline_optimizer)/config/static_centerline_optimizer.param.yaml"/>
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<param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
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<param name="centerline_source" value="$(var centerline_source)"/>
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<param name="bag_filename" value="$(var bag_filename)"/>
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</node>
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<!-- rviz -->
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<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_optimizer)/rviz/static_centerline_optimizer.rviz" if="$(var rviz)"/>
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<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
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</launch>

‎planning/static_centerline_optimizer/media/rviz.png ‎planning/static_centerline_generator/media/rviz.png

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‎planning/static_centerline_optimizer/media/unsafe_footprints.png ‎planning/static_centerline_generator/media/unsafe_footprints.png

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‎planning/static_centerline_optimizer/msg/PointsWithLaneId.msg ‎planning/static_centerline_generator/msg/PointsWithLaneId.msg

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‎planning/static_centerline_optimizer/package.xml ‎planning/static_centerline_generator/package.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>static_centerline_optimizer</name>
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<name>static_centerline_generator</name>
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<version>0.1.0</version>
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<description>The static_centerline_optimizer package</description>
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<description>The static_centerline_generator package</description>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
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<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
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<license>Apache License 2.0</license>

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