refactor(autoware_velocity_walkway_module): prefix package with autoware_ and move code to the autoware namespace (#7153)

* 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>

* style(pre-commit): autofix

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

* fix: fix issue loading packages that have been prefixed

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

---------

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: esteve

.github/CODEOWNERS

@@ -148,6 +148,7 @@ planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.wa
 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
 planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
 planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
 planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
@@ -175,7 +176,6 @@ planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp m
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 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

@@ -106,7 +106,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
     if="$(var launch_walkway_module)"
   />
   <let

planning/.pages

@@ -35,7 +35,7 @@ nav:
         - 'Stop Line': planning/behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module
         - 'Virtual Traffic Light': planning/autoware_behavior_velocity_virtual_traffic_light_module
-        - 'Walkway': planning/behavior_velocity_walkway_module
+        - 'Walkway': planning/autoware_behavior_velocity_walkway_module
   - 'Parking':
     - 'Freespace Planner':
       - 'About Freespace Planner': planning/freespace_planner

planning/autoware_behavior_velocity_planner/README.md

@@ -9,7 +9,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 
 - [Blind Spot](../behavior_velocity_blind_spot_module/README.md)
 - [Crosswalk](../behavior_velocity_crosswalk_module/README.md)
-- [Walkway](../behavior_velocity_walkway_module/README.md)
+- [Walkway](../autoware_behavior_velocity_walkway_module/README.md)
 - [Detection Area](../behavior_velocity_detection_area_module/README.md)
 - [Intersection](../behavior_velocity_intersection_module/README.md)
 - [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)

planning/autoware_behavior_velocity_planner/package.xml

@@ -67,6 +67,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
   <test_depend>autoware_behavior_velocity_virtual_traffic_light_module</test_depend>
+  <test_depend>autoware_behavior_velocity_walkway_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_velocity_blind_spot_module</test_depend>
   <test_depend>behavior_velocity_crosswalk_module</test_depend>
@@ -79,7 +80,6 @@
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>
-  <test_depend>behavior_velocity_walkway_module</test_depend>
   <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
   <member_of_group>rosidl_interface_packages</member_of_group>

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -69,7 +69,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
 
   std::vector<std::string> module_names;
   module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::WalkwayModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::TrafficLightModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::IntersectionModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin");
@@ -98,7 +98,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
                    get_behavior_velocity_module_config_no_prefix("blind_spot"),
                    get_behavior_velocity_module_config_no_prefix("crosswalk"),
-                   get_behavior_velocity_module_config_no_prefix("walkway"),
+                   get_behavior_velocity_module_config("walkway"),
                    get_behavior_velocity_module_config_no_prefix("detection_area"),
                    get_behavior_velocity_module_config_no_prefix("intersection"),
                    get_behavior_velocity_module_config_no_prefix("no_stopping_area"),

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

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_walkway_module)
+project(autoware_behavior_velocity_walkway_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

planning/behavior_velocity_walkway_module/README.md planning/autoware_behavior_velocity_walkway_module/README.md

@@ -1,9 +1,9 @@
 <?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>behavior_velocity_walkway_module</name>
+  <name>autoware_behavior_velocity_walkway_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_walkway_module package</description>
+  <description>The autoware_behavior_velocity_walkway_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>

planning/behavior_velocity_walkway_module/config/walkway.param.yaml planning/autoware_behavior_velocity_walkway_module/config/walkway.param.yaml

@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_walkway_module">
+  <class type="autoware::behavior_velocity_planner::WalkwayModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>

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

@@ -22,7 +22,7 @@
 
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 using motion_utils::createSlowDownVirtualWallMarker;
@@ -34,6 +34,7 @@ using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
 using visualization_msgs::msg::Marker;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 namespace
 {
@@ -98,4 +99,4 @@ visualization_msgs::msg::MarkerArray WalkwayModule::createDebugMarkerArray()
 
   return debug_marker_array;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/autoware_behavior_velocity_walkway_module/plugins.xml

@@ -23,11 +23,15 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 using lanelet::autoware::Crosswalk;
 using tier4_autoware_utils::getOrDeclareParameter;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
+using ::behavior_velocity_planner::getCrosswalkIdSetOnPath;
+using ::behavior_velocity_planner::getCrosswalksOnPath;
 
 WalkwayModuleManager::WalkwayModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
@@ -100,8 +104,9 @@ WalkwayModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)
     return walkway_id_set.count(scene_module->getModuleId()) == 0;
   };
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::WalkwayModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::WalkwayModulePlugin,
+  ::behavior_velocity_planner::PluginInterface)

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

@@ -31,9 +31,11 @@
 #include <set>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
-
+using ::behavior_velocity_planner::PluginWrapper;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 class WalkwayModuleManager : public SceneModuleManagerInterface
@@ -56,6 +58,6 @@ class WalkwayModulePlugin : public PluginWrapper<WalkwayModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_

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

@@ -19,14 +19,22 @@
 
 #include <cmath>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using ::behavior_velocity_planner::getLinestringIntersects;
+using ::behavior_velocity_planner::getPolygonIntersects;
+using ::behavior_velocity_planner::getStopLineFromMap;
+using ::behavior_velocity_planner::PlanningBehavior;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopFactor;
+using ::behavior_velocity_planner::VelocityFactor;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestSegmentIndex;
 using tier4_autoware_utils::createPoint;
 using tier4_autoware_utils::getPose;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 WalkwayModule::WalkwayModule(
   const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
@@ -165,4 +173,4 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_
 
   return true;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

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

@@ -31,8 +31,12 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::DebugData;
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 
 class WalkwayModule : public SceneModuleInterface
 {
@@ -77,6 +81,6 @@ class WalkwayModule : public SceneModuleInterface
   // flag to use regulatory element
   const bool use_regulatory_element_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_WALKWAY_HPP_