shorten namespaces

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Author: esteve

common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp

@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace autoware::component_interface_specs::control_interface
+namespace autoware::component_interface_specs::control
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::control_interface
+}  // namespace autoware::component_interface_specs::control
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp

@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace autoware::component_interface_specs::localization_interface
+namespace autoware::component_interface_specs::localization
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::localization_interface
+}  // namespace autoware::component_interface_specs::localization
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp

@@ -19,7 +19,7 @@
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace autoware::component_interface_specs::map_interface
+namespace autoware::component_interface_specs::map
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::map_interface
+}  // namespace autoware::component_interface_specs::map
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp

@@ -19,7 +19,7 @@
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace autoware::component_interface_specs::perception_interface
+namespace autoware::component_interface_specs::perception
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::perception_interface
+}  // namespace autoware::component_interface_specs::perception
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp

@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace autoware::component_interface_specs::planning_interface
+namespace autoware::component_interface_specs::planning
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::planning_interface
+}  // namespace autoware::component_interface_specs::planning
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp

@@ -22,7 +22,7 @@
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
-namespace autoware::component_interface_specs::system_interface
+namespace autoware::component_interface_specs::system
 {
 
 struct MrmState
@@ -55,6 +55,6 @@ struct OperationModeState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::system_interface
+}  // namespace autoware::component_interface_specs::system
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp

@@ -26,7 +26,7 @@
 #include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <tier4_vehicle_msgs/msg/battery_status.hpp>
 
-namespace autoware::component_interface_specs::vehicle_interface
+namespace autoware::component_interface_specs::vehicle
 {
 
 struct SteeringStatus
@@ -95,6 +95,6 @@ struct DoorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::vehicle_interface
+}  // namespace autoware::component_interface_specs::vehicle
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_

common/autoware_component_interface_specs/test/test_control.cpp

@@ -18,7 +18,7 @@
 TEST(control, interface)
 {
   {
-    using autoware::component_interface_specs::control_interface::IsPaused;
+    using autoware::component_interface_specs::control::IsPaused;
     IsPaused is_paused;
     size_t depth = 1;
     EXPECT_EQ(is_paused.depth, depth);
@@ -27,7 +27,7 @@ TEST(control, interface)
   }
 
   {
-    using autoware::component_interface_specs::control_interface::IsStartRequested;
+    using autoware::component_interface_specs::control::IsStartRequested;
     IsStartRequested is_start_requested;
     size_t depth = 1;
     EXPECT_EQ(is_start_requested.depth, depth);
@@ -36,7 +36,7 @@ TEST(control, interface)
   }
 
   {
-    using autoware::component_interface_specs::control_interface::IsStopped;
+    using autoware::component_interface_specs::control::IsStopped;
     IsStopped is_stopped;
     size_t depth = 1;
     EXPECT_EQ(is_stopped.depth, depth);

common/autoware_component_interface_specs/test/test_localization.cpp

@@ -18,7 +18,7 @@
 TEST(localization, interface)
 {
   {
-    using autoware::component_interface_specs::localization_interface::InitializationState;
+    using autoware::component_interface_specs::localization::InitializationState;
     InitializationState initialization_state;
     size_t depth = 1;
     EXPECT_EQ(initialization_state.depth, depth);
@@ -27,7 +27,7 @@ TEST(localization, interface)
   }
 
   {
-    using autoware::component_interface_specs::localization_interface::KinematicState;
+    using autoware::component_interface_specs::localization::KinematicState;
     KinematicState kinematic_state;
     size_t depth = 1;
     EXPECT_EQ(kinematic_state.depth, depth);
@@ -36,7 +36,7 @@ TEST(localization, interface)
   }
 
   {
-    using autoware::component_interface_specs::localization_interface::Acceleration;
+    using autoware::component_interface_specs::localization::Acceleration;
     Acceleration acceleration;
     size_t depth = 1;
     EXPECT_EQ(acceleration.depth, depth);

common/autoware_component_interface_specs/test/test_map.cpp

@@ -18,7 +18,7 @@
 TEST(map, interface)
 {
   {
-    using autoware::component_interface_specs::map_interface::MapProjectorInfo;
+    using autoware::component_interface_specs::map::MapProjectorInfo;
     MapProjectorInfo map_projector;
     size_t depth = 1;
     EXPECT_EQ(map_projector.depth, depth);

common/autoware_component_interface_specs/test/test_perception.cpp

@@ -18,7 +18,7 @@
 TEST(perception, interface)
 {
   {
-    using autoware::component_interface_specs::perception_interface::ObjectRecognition;
+    using autoware::component_interface_specs::perception::ObjectRecognition;
     ObjectRecognition object_recognition;
     size_t depth = 1;
     EXPECT_EQ(object_recognition.depth, depth);

common/autoware_component_interface_specs/test/test_planning.cpp

@@ -18,7 +18,7 @@
 TEST(planning, interface)
 {
   {
-    using autoware::component_interface_specs::planning_interface::RouteState;
+    using autoware::component_interface_specs::planning::RouteState;
     RouteState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(planning, interface)
   }
 
   {
-    using autoware::component_interface_specs::planning_interface::LaneletRoute;
+    using autoware::component_interface_specs::planning::LaneletRoute;
     LaneletRoute route;
     size_t depth = 1;
     EXPECT_EQ(route.depth, depth);
@@ -36,7 +36,7 @@ TEST(planning, interface)
   }
 
   {
-    using autoware::component_interface_specs::planning_interface::Trajectory;
+    using autoware::component_interface_specs::planning::Trajectory;
     Trajectory trajectory;
     size_t depth = 1;
     EXPECT_EQ(trajectory.depth, depth);

common/autoware_component_interface_specs/test/test_system.cpp

@@ -18,7 +18,7 @@
 TEST(system, interface)
 {
   {
-    using autoware::component_interface_specs::system_interface::MrmState;
+    using autoware::component_interface_specs::system::MrmState;
     MrmState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(system, interface)
   }
 
   {
-    using autoware::component_interface_specs::system_interface::OperationModeState;
+    using autoware::component_interface_specs::system::OperationModeState;
     OperationModeState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);

common/autoware_component_interface_specs/test/test_vehicle.cpp

@@ -18,7 +18,7 @@
 TEST(vehicle, interface)
 {
   {
-    using autoware::component_interface_specs::vehicle_interface::SteeringStatus;
+    using autoware::component_interface_specs::vehicle::SteeringStatus;
     SteeringStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -27,7 +27,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::GearStatus;
+    using autoware::component_interface_specs::vehicle::GearStatus;
     GearStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -36,7 +36,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus;
+    using autoware::component_interface_specs::vehicle::TurnIndicatorStatus;
     TurnIndicatorStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -45,7 +45,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::HazardLightStatus;
+    using autoware::component_interface_specs::vehicle::HazardLightStatus;
     HazardLightStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -54,7 +54,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::EnergyStatus;
+    using autoware::component_interface_specs::vehicle::EnergyStatus;
     EnergyStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);

control/autoware_operation_mode_transition_manager/src/node.hpp

@@ -36,11 +36,11 @@ class OperationModeTransitionManager : public rclcpp::Node
 
 private:
   using ChangeAutowareControlAPI =
-    autoware::component_interface_specs::system_interface::ChangeAutowareControl;
+    autoware::component_interface_specs::system::ChangeAutowareControl;
   using ChangeOperationModeAPI =
-    autoware::component_interface_specs::system_interface::ChangeOperationMode;
+    autoware::component_interface_specs::system::ChangeOperationMode;
   using OperationModeStateAPI =
-    autoware::component_interface_specs::system_interface::OperationModeState;
+    autoware::component_interface_specs::system::OperationModeState;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;

control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp

@@ -29,9 +29,9 @@ class AdapiPauseInterface
 private:
   static constexpr double eps = 1e-3;
   using Control = autoware_control_msgs::msg::Control;
-  using SetPause = autoware::component_interface_specs::control_interface::SetPause;
-  using IsPaused = autoware::component_interface_specs::control_interface::IsPaused;
-  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
+  using SetPause = autoware::component_interface_specs::control::SetPause;
+  using IsPaused = autoware::component_interface_specs::control::IsPaused;
+  using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested;
 
 public:
   explicit AdapiPauseInterface(rclcpp::Node * node);

control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp

@@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate
 class ModerateStopInterface
 {
 private:
-  using SetStop = autoware::component_interface_specs::control_interface::SetStop;
-  using IsStopped = autoware::component_interface_specs::control_interface::IsStopped;
-  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
+  using SetStop = autoware::component_interface_specs::control::SetStop;
+  using IsStopped = autoware::component_interface_specs::control::IsStopped;
+  using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested;
 
 public:
   explicit ModerateStopInterface(rclcpp::Node * node);

control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp

@@ -97,11 +97,11 @@ class PredictedPathCheckerNode : public rclcpp::Node
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_accel_;
   component_interface_utils::Subscription<
-    autoware::component_interface_specs::control_interface::IsStopped>::SharedPtr sub_stop_state_;
+    autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_;
 
   // Client
   component_interface_utils::Client<
-    autoware::component_interface_specs::control_interface::SetStop>::SharedPtr cli_set_stop_;
+    autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_;
 
   // Data Buffer
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_;
@@ -110,7 +110,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
-  autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
     is_stopped_ptr_{nullptr};
 
   // Core
@@ -130,7 +130,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
   void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
   void onIsStopped(
-    const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
       msg);
 
   // Timer

control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp

@@ -132,7 +132,7 @@ void PredictedPathCheckerNode::onAccel(
 }
 
 void PredictedPathCheckerNode::onIsStopped(
-  const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
     msg)
 {
   is_stopped_ptr_ = msg;
@@ -417,7 +417,7 @@ void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
 {
   if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
     const auto req = std::make_shared<
-      autoware::component_interface_specs::control_interface::SetStop::Service::Request>();
+      autoware::component_interface_specs::control::SetStop::Service::Request>();
     req->stop = make_stop_vehicle;
     req->request_source = "predicted_path_checker";
     is_calling_set_stop_ = true;

localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp

@@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node
 private:
   using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped;
   using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped;
-  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
 
 public:
   explicit GeoPoseProjector(const rclcpp::NodeOptions & options);

localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp

@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization::Initialize;
 
 EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node)
 {

localization/autoware_pose_initializer/src/gnss_module.cpp

@@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg)
 
 geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose()
 {
-  using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+  using Initialize = autoware::component_interface_specs::localization::Initialize;
 
   if (!pose_) {
     throw component_interface_utils::ServiceException(