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esteveesteve
committedJun 4, 2024·
refactor(autoware_velocity_walkway_module): prefix package with autoware_ and move code to the autoware namespace
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
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-39
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+66
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‎.github/CODEOWNERS

+1-1
Original file line numberDiff line numberDiff line change
@@ -147,6 +147,7 @@ perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier
147147
planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
148148
planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
149149
planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
150+
planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
150151
planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
151152
planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
152153
planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
@@ -175,7 +176,6 @@ planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakab
175176
planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
176177
planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
177178
planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
178-
planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
179179
planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
180180
planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
181181
planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp

‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -106,7 +106,7 @@
106106
/>
107107
<let
108108
name="behavior_velocity_planner_launch_modules"
109-
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
109+
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
110110
if="$(var launch_walkway_module)"
111111
/>
112112
<let

‎planning/.pages

+1-1
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,7 @@ nav:
3535
- 'Stop Line': planning/behavior_velocity_stop_line_module
3636
- 'Traffic Light': planning/behavior_velocity_traffic_light_module
3737
- 'Virtual Traffic Light': planning/behavior_velocity_virtual_traffic_light_module
38-
- 'Walkway': planning/behavior_velocity_walkway_module
38+
- 'Walkway': planning/autoware_behavior_velocity_walkway_module
3939
- 'Parking':
4040
- 'Freespace Planner':
4141
- 'About Freespace Planner': planning/freespace_planner

‎planning/autoware_behavior_velocity_planner/README.md

+1-1
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
99

1010
- [Blind Spot](../behavior_velocity_blind_spot_module/README.md)
1111
- [Crosswalk](../behavior_velocity_crosswalk_module/README.md)
12-
- [Walkway](../behavior_velocity_walkway_module/README.md)
12+
- [Walkway](../autoware_behavior_velocity_walkway_module/README.md)
1313
- [Detection Area](../behavior_velocity_detection_area_module/README.md)
1414
- [Intersection](../behavior_velocity_intersection_module/README.md)
1515
- [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)

‎planning/autoware_behavior_velocity_planner/package.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@
6565

6666
<test_depend>ament_cmake_ros</test_depend>
6767
<test_depend>ament_lint_auto</test_depend>
68+
<test_depend>autoware_behavior_velocity_walkway_module</test_depend>
6869
<test_depend>autoware_lint_common</test_depend>
6970
<test_depend>behavior_velocity_blind_spot_module</test_depend>
7071
<test_depend>behavior_velocity_crosswalk_module</test_depend>
@@ -79,8 +80,7 @@
7980
<test_depend>behavior_velocity_stop_line_module</test_depend>
8081
<test_depend>behavior_velocity_traffic_light_module</test_depend>
8182
<test_depend>behavior_velocity_virtual_traffic_light_module</test_depend>
82-
<test_depend>behavior_velocity_walkway_module</test_depend>
83-
<!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
83+
<!--<test_depend>behavior_velocity_template_module</test_depend>-->
8484

8585
<member_of_group>rosidl_interface_packages</member_of_group>
8686

‎planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

+22-15
Original file line numberDiff line numberDiff line change
@@ -54,15 +54,22 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
5454
const auto velocity_smoother_dir =
5555
ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
5656

57-
const auto get_behavior_velocity_module_config = [](const std::string & module) {
57+
// TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
58+
const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
5859
const auto package_name = "behavior_velocity_" + module + "_module";
5960
const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
6061
return package_path + "/config/" + module + ".param.yaml";
6162
};
6263

64+
const auto get_behavior_velocity_module_config = [](const std::string & module) {
65+
const auto package_name = "autoware_behavior_velocity_" + module + "_module";
66+
const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
67+
return package_path + "/config/" + module + ".param.yaml";
68+
};
69+
6370
std::vector<std::string> module_names;
6471
module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
65-
module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin");
72+
module_names.emplace_back("autoware::behavior_velocity_planner::WalkwayModulePlugin");
6673
module_names.emplace_back("behavior_velocity_planner::TrafficLightModulePlugin");
6774
module_names.emplace_back("behavior_velocity_planner::IntersectionModulePlugin");
6875
module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin");
@@ -89,20 +96,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
8996
velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
9097
velocity_smoother_dir + "/config/Analytical.param.yaml",
9198
behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
92-
get_behavior_velocity_module_config("blind_spot"),
93-
get_behavior_velocity_module_config("crosswalk"),
99+
get_behavior_velocity_module_config_no_prefix("blind_spot"),
100+
get_behavior_velocity_module_config_no_prefix("crosswalk"),
94101
get_behavior_velocity_module_config("walkway"),
95-
get_behavior_velocity_module_config("detection_area"),
96-
get_behavior_velocity_module_config("intersection"),
97-
get_behavior_velocity_module_config("no_stopping_area"),
98-
get_behavior_velocity_module_config("occlusion_spot"),
99-
get_behavior_velocity_module_config("run_out"),
100-
get_behavior_velocity_module_config("speed_bump"),
101-
get_behavior_velocity_module_config("stop_line"),
102-
get_behavior_velocity_module_config("traffic_light"),
103-
get_behavior_velocity_module_config("virtual_traffic_light"),
104-
get_behavior_velocity_module_config("out_of_lane"),
105-
get_behavior_velocity_module_config("no_drivable_lane")});
102+
get_behavior_velocity_module_config_no_prefix("detection_area"),
103+
get_behavior_velocity_module_config_no_prefix("intersection"),
104+
get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
105+
get_behavior_velocity_module_config_no_prefix("occlusion_spot"),
106+
get_behavior_velocity_module_config_no_prefix("run_out"),
107+
get_behavior_velocity_module_config_no_prefix("speed_bump"),
108+
get_behavior_velocity_module_config_no_prefix("stop_line"),
109+
get_behavior_velocity_module_config_no_prefix("traffic_light"),
110+
get_behavior_velocity_module_config_no_prefix("virtual_traffic_light"),
111+
get_behavior_velocity_module_config_no_prefix("out_of_lane"),
112+
get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
106113

107114
// TODO(Takagi, Isamu): set launch_modules
108115
// TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light

‎planning/behavior_velocity_walkway_module/CMakeLists.txt ‎planning/autoware_behavior_velocity_walkway_module/CMakeLists.txt

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

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()

‎planning/behavior_velocity_walkway_module/package.xml ‎planning/autoware_behavior_velocity_walkway_module/package.xml

+2-2
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@@ -1,9 +1,9 @@
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>behavior_velocity_walkway_module</name>
4+
<name>autoware_behavior_velocity_walkway_module</name>
55
<version>0.1.0</version>
6-
<description>The behavior_velocity_walkway_module package</description>
6+
<description>The autoware_behavior_velocity_walkway_module package</description>
77

88
<maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
99
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>

‎planning/autoware_behavior_velocity_walkway_module/plugins.xml

+3
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
<library path="autoware_behavior_velocity_walkway_module">
2+
<class type="autoware::behavior_velocity_planner::WalkwayModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
3+
</library>

‎planning/behavior_velocity_walkway_module/src/debug.cpp ‎planning/autoware_behavior_velocity_walkway_module/src/debug.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222

2323
#include <vector>
2424

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

2828
using motion_utils::createSlowDownVirtualWallMarker;
@@ -34,6 +34,7 @@ using tier4_autoware_utils::createMarkerColor;
3434
using tier4_autoware_utils::createMarkerScale;
3535
using tier4_autoware_utils::createPoint;
3636
using visualization_msgs::msg::Marker;
37+
namespace planning_utils = ::behavior_velocity_planner::planning_utils;
3738

3839
namespace
3940
{
@@ -98,4 +99,4 @@ visualization_msgs::msg::MarkerArray WalkwayModule::createDebugMarkerArray()
9899

99100
return debug_marker_array;
100101
}
101-
} // namespace behavior_velocity_planner
102+
} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_walkway_module/src/manager.cpp ‎planning/autoware_behavior_velocity_walkway_module/src/manager.cpp

+8-3
Original file line numberDiff line numberDiff line change
@@ -23,11 +23,15 @@
2323
#include <string>
2424
#include <vector>
2525

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

29+
using ::behavior_velocity_planner::SceneModuleManagerInterface;
2930
using lanelet::autoware::Crosswalk;
3031
using tier4_autoware_utils::getOrDeclareParameter;
32+
namespace planning_utils = ::behavior_velocity_planner::planning_utils;
33+
using ::behavior_velocity_planner::getCrosswalkIdSetOnPath;
34+
using ::behavior_velocity_planner::getCrosswalksOnPath;
3135

3236
WalkwayModuleManager::WalkwayModuleManager(rclcpp::Node & node)
3337
: SceneModuleManagerInterface(node, getModuleName())
@@ -100,8 +104,9 @@ WalkwayModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)
100104
return walkway_id_set.count(scene_module->getModuleId()) == 0;
101105
};
102106
}
103-
} // namespace behavior_velocity_planner
107+
} // namespace autoware::behavior_velocity_planner
104108

105109
#include <pluginlib/class_list_macros.hpp>
106110
PLUGINLIB_EXPORT_CLASS(
107-
behavior_velocity_planner::WalkwayModulePlugin, behavior_velocity_planner::PluginInterface)
111+
autoware::behavior_velocity_planner::WalkwayModulePlugin,
112+
::behavior_velocity_planner::PluginInterface)

‎planning/behavior_velocity_walkway_module/src/manager.hpp ‎planning/autoware_behavior_velocity_walkway_module/src/manager.hpp

+5-3
Original file line numberDiff line numberDiff line change
@@ -31,10 +31,12 @@
3131
#include <set>
3232
#include <vector>
3333

34-
namespace behavior_velocity_planner
34+
namespace autoware::behavior_velocity_planner
3535
{
36-
3736
using autoware_auto_planning_msgs::msg::PathWithLaneId;
37+
using ::behavior_velocity_planner::PluginWrapper;
38+
using ::behavior_velocity_planner::SceneModuleInterface;
39+
using ::behavior_velocity_planner::SceneModuleManagerInterface;
3840

3941
class WalkwayModuleManager : public SceneModuleManagerInterface
4042
{
@@ -56,6 +58,6 @@ class WalkwayModulePlugin : public PluginWrapper<WalkwayModuleManager>
5658
{
5759
};
5860

59-
} // namespace behavior_velocity_planner
61+
} // namespace autoware::behavior_velocity_planner
6062

6163
#endif // MANAGER_HPP_

‎planning/behavior_velocity_walkway_module/src/scene_walkway.cpp ‎planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp

+10-2
Original file line numberDiff line numberDiff line change
@@ -19,14 +19,22 @@
1919

2020
#include <cmath>
2121

22-
namespace behavior_velocity_planner
22+
namespace autoware::behavior_velocity_planner
2323
{
2424
namespace bg = boost::geometry;
25+
using ::behavior_velocity_planner::getLinestringIntersects;
26+
using ::behavior_velocity_planner::getPolygonIntersects;
27+
using ::behavior_velocity_planner::getStopLineFromMap;
28+
using ::behavior_velocity_planner::PlanningBehavior;
29+
using ::behavior_velocity_planner::SceneModuleInterface;
30+
using ::behavior_velocity_planner::StopFactor;
31+
using ::behavior_velocity_planner::VelocityFactor;
2532
using motion_utils::calcLongitudinalOffsetPose;
2633
using motion_utils::calcSignedArcLength;
2734
using motion_utils::findNearestSegmentIndex;
2835
using tier4_autoware_utils::createPoint;
2936
using tier4_autoware_utils::getPose;
37+
namespace planning_utils = ::behavior_velocity_planner::planning_utils;
3038

3139
WalkwayModule::WalkwayModule(
3240
const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
@@ -165,4 +173,4 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_
165173

166174
return true;
167175
}
168-
} // namespace behavior_velocity_planner
176+
} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_walkway_module/src/scene_walkway.hpp ‎planning/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -31,8 +31,12 @@
3131
#include <utility>
3232
#include <vector>
3333

34-
namespace behavior_velocity_planner
34+
namespace autoware::behavior_velocity_planner
3535
{
36+
using ::behavior_velocity_planner::DebugData;
37+
using ::behavior_velocity_planner::PathWithLaneId;
38+
using ::behavior_velocity_planner::SceneModuleInterface;
39+
using ::behavior_velocity_planner::StopReason;
3640

3741
class WalkwayModule : public SceneModuleInterface
3842
{
@@ -77,6 +81,6 @@ class WalkwayModule : public SceneModuleInterface
7781
// flag to use regulatory element
7882
const bool use_regulatory_element_;
7983
};
80-
} // namespace behavior_velocity_planner
84+
} // namespace autoware::behavior_velocity_planner
8185

8286
#endif // SCENE_WALKWAY_HPP_

‎planning/behavior_velocity_walkway_module/plugins.xml

-3
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