From 3afacf9fe76b1a7684b565f252a5e867df465b6d Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@tier4.jp>
Date: Tue, 6 Feb 2024 16:59:29 +0900
Subject: [PATCH 1/3] chore(ndt_scan_matcher): rename config path

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
---
 .../{ => ndt_scan_matcher}/ndt_scan_matcher.param.yaml    | 0
 .../crop_box_filter_measurement_range.param.yaml          | 0
 .../random_downsample_filter.param.yaml                   | 0
 .../pointcloud_preprocess}/voxel_grid_filter.param.yaml   | 0
 .../components/tier4_localization_component.launch.xml    | 8 ++++----
 5 files changed, 4 insertions(+), 4 deletions(-)
 rename autoware_launch/config/localization/{ => ndt_scan_matcher}/ndt_scan_matcher.param.yaml (100%)
 rename autoware_launch/config/localization/{ => ndt_scan_matcher/pointcloud_preprocess}/crop_box_filter_measurement_range.param.yaml (100%)
 rename autoware_launch/config/localization/{ => ndt_scan_matcher/pointcloud_preprocess}/random_downsample_filter.param.yaml (100%)
 rename autoware_launch/config/localization/{ => ndt_scan_matcher/pointcloud_preprocess}/voxel_grid_filter.param.yaml (100%)

diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/ndt_scan_matcher.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml
diff --git a/autoware_launch/config/localization/random_downsample_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/random_downsample_filter.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml
diff --git a/autoware_launch/config/localization/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/voxel_grid_filter.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 70170a5fef..e8881831d4 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -19,16 +19,16 @@
       <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
 
       <!-- parameter paths for common -->
-      <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
-      <arg name="voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/voxel_grid_filter.param.yaml"/>
-      <arg name="random_downsample_filter_param_path" value="$(var loc_config_path)/random_downsample_filter.param.yaml"/>
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
       <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
       <arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
       <arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>
 
       <!-- parameter paths for ndt -->
-      <arg name="ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher.param.yaml"/>
+      <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher/ndt_scan_matcher.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocess/voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml"/>
 
       <!-- parameter paths for yabloc -->
       <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>

From ab9580e5a4eaa1cd43af6fa57ea1a72e5881f910 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@tier4.jp>
Date: Tue, 6 Feb 2024 17:58:25 +0900
Subject: [PATCH 2/3] rename path

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
---
 .../crop_box_filter_measurement_range.param.yaml            | 0
 .../random_downsample_filter.param.yaml                     | 0
 .../voxel_grid_filter.param.yaml                            | 0
 .../components/tier4_localization_component.launch.xml      | 6 +++---
 4 files changed, 3 insertions(+), 3 deletions(-)
 rename autoware_launch/config/localization/ndt_scan_matcher/{pointcloud_preprocess => pointcloud_preprocessor}/crop_box_filter_measurement_range.param.yaml (100%)
 rename autoware_launch/config/localization/ndt_scan_matcher/{pointcloud_preprocess => pointcloud_preprocessor}/random_downsample_filter.param.yaml (100%)
 rename autoware_launch/config/localization/ndt_scan_matcher/{pointcloud_preprocess => pointcloud_preprocessor}/voxel_grid_filter.param.yaml (100%)

diff --git a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml
diff --git a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml
diff --git a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index e8881831d4..9e940dc6d5 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -26,9 +26,9 @@
 
       <!-- parameter paths for ndt -->
       <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher/ndt_scan_matcher.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/crop_box_filter_measurement_range.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocess/voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/voxel_grid_filter.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocess/random_downsample_filter.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml"/>
+      <arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml"/>
 
       <!-- parameter paths for yabloc -->
       <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>

From 15a12b028c429d13098e8f3643222c4c572f4718 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 6 Feb 2024 09:00:20 +0000
Subject: [PATCH 3/3] style(pre-commit): autofix

---
 .../tier4_localization_component.launch.xml       | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 9e940dc6d5..c5117009d2 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -26,9 +26,18 @@
 
       <!-- parameter paths for ndt -->
       <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher/ndt_scan_matcher.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml"/>
-      <arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path" value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml"/>
+      <arg
+        name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"
+        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"
+      />
+      <arg
+        name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"
+        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml"
+      />
+      <arg
+        name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"
+        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml"
+      />
 
       <!-- parameter paths for yabloc -->
       <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>