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refactor(map_loader)!: prefix package and namespace with autoware (#8927)
* make lanelet2_map_visualization independent Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * remove unused files Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * remove unused package Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * fix package name Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware_ prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware to exec name Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * removed unnecessary dependency Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
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‎.github/CODEOWNERS

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@@ -97,6 +97,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu
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localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

‎common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

+1-1
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@@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer()
364364
void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg)
365365
{
366366
if (received_vector_map_) return;
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// NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp
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// NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp
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lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
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lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map);
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lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map);

‎launch/tier4_map_launch/launch/map.launch.xml

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@@ -20,7 +20,7 @@
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<push-ros-namespace namespace="map"/>
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<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
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<composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
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<composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::PointCloudMapLoaderNode" name="pointcloud_map_loader">
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<param from="$(var pointcloud_map_loader_param_path)"/>
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<param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
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<param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
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<remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
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</composable_node>
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<composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
34+
<composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::Lanelet2MapLoaderNode" name="lanelet2_map_loader">
3535
<param from="$(var lanelet2_map_loader_param_path)"/>
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<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
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<remap from="output/lanelet2_map" to="vector_map"/>
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</composable_node>
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40-
<composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
40+
<composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
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<remap from="input/lanelet2_map" to="vector_map"/>
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<remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
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</composable_node>
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</composable_node>
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</node_container>
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<node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
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<node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator">
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<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
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<param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
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</node>

‎launch/tier4_map_launch/package.xml

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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<exec_depend>autoware_map_loader</exec_depend>
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<exec_depend>autoware_map_projection_loader</exec_depend>
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<exec_depend>autoware_map_tf_generator</exec_depend>
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<exec_depend>map_loader</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>

‎map/autoware_lanelet2_map_visualizer/CMakeLists.txt

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@@ -0,0 +1,18 @@
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cmake_minimum_required(VERSION 3.14)
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project(autoware_lanelet2_map_visualizer)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_auto_add_library(lanelet2_map_visualization_node SHARED
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src/lanelet2_map_visualization_node.cpp
9+
)
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rclcpp_components_register_node(lanelet2_map_visualization_node
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PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
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EXECUTABLE lanelet2_map_visualization
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)
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ament_auto_package(INSTALL_TO_SHARE
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launch
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)

‎map/autoware_lanelet2_map_visualizer/README.md

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# autoware_lanelet2_map_visualizer package
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This package provides the features of visualizing the lanelet2 maps.
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5+
## lanelet2_map_visualization
6+
7+
### Feature
8+
9+
lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
10+
11+
### How to Run
12+
13+
`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`
14+
15+
### Subscribed Topics
16+
17+
- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
18+
19+
### Published Topics
20+
21+
- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

‎map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml

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<launch>
2+
<arg name="lanelet2_map_topic" default="vector_map"/>
3+
<arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
4+
5+
<node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
6+
<remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
7+
<remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
8+
</node>
9+
</launch>

‎map/autoware_lanelet2_map_visualizer/package.xml

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<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>autoware_lanelet2_map_visualizer</name>
5+
<version>0.1.0</version>
6+
<description>The autoware_lanelet2_map_visualizer package</description>
7+
<maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
8+
<maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
9+
<maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
10+
<maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
11+
<maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
12+
<maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
13+
<maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
14+
<maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
15+
16+
<license>Apache License 2.0</license>
17+
<author email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</author>
18+
<author email="koji.minoda@tier4.jp">Koji Minoda</author>
19+
20+
<buildtool_depend>ament_cmake_auto</buildtool_depend>
21+
<buildtool_depend>autoware_cmake</buildtool_depend>
22+
23+
<depend>autoware_lanelet2_extension</depend>
24+
<depend>autoware_map_msgs</depend>
25+
<depend>rclcpp</depend>
26+
<depend>rclcpp_components</depend>
27+
<depend>tier4_map_msgs</depend>
28+
<depend>visualization_msgs</depend>
29+
30+
<test_depend>ament_lint_auto</test_depend>
31+
<test_depend>autoware_lint_common</test_depend>
32+
33+
<export>
34+
<build_type>ament_cmake</build_type>
35+
</export>
36+
</package>

‎map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp ‎map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp

+4-4
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@@ -31,7 +31,7 @@
3131
*
3232
*/
3333

34-
#include "map_loader/lanelet2_map_visualization_node.hpp"
34+
#include "lanelet2_map_visualization_node.hpp"
3535

3636
#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
3737
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -49,7 +49,7 @@
4949
#include <memory>
5050
#include <vector>
5151

52-
namespace
52+
namespace autoware::lanelet2_map_visualizer
5353
{
5454
void insert_marker_array(
5555
visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2)
@@ -64,7 +64,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub
6464
cl->b = static_cast<float>(b);
6565
cl->a = static_cast<float>(a);
6666
}
67-
} // namespace
6867

6968
Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options)
7069
: Node("lanelet2_map_visualization", options)
@@ -314,6 +313,7 @@ void Lanelet2MapVisualizationNode::on_map_bin(
314313

315314
pub_marker_->publish(map_marker_array);
316315
}
316+
} // namespace autoware::lanelet2_map_visualizer
317317

318318
#include <rclcpp_components/register_node_macro.hpp>
319-
RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode)
319+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode)

‎map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp ‎map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp

+6-3
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@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
16-
#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
15+
#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_
16+
#define LANELET2_MAP_VISUALIZATION_NODE_HPP_
1717

1818
#include <rclcpp/rclcpp.hpp>
1919

@@ -23,6 +23,8 @@
2323
#include <string>
2424
#include <vector>
2525

26+
namespace autoware::lanelet2_map_visualizer
27+
{
2628
class Lanelet2MapVisualizationNode : public rclcpp::Node
2729
{
2830
public:
@@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
3638

3739
void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
3840
};
41+
} // namespace autoware::lanelet2_map_visualizer
3942

40-
#endif // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
43+
#endif // LANELET2_MAP_VISUALIZATION_NODE_HPP_

‎map/map_loader/CHANGELOG.rst ‎map/autoware_map_loader/CHANGELOG.rst

File renamed without changes.

‎map/map_loader/CMakeLists.txt ‎map/autoware_map_loader/CMakeLists.txt

+5-14
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11
cmake_minimum_required(VERSION 3.14)
2-
project(map_loader)
2+
project(autoware_map_loader)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -23,26 +23,17 @@ target_include_directories(pointcloud_map_loader_node
2323
)
2424

2525
rclcpp_components_register_node(pointcloud_map_loader_node
26-
PLUGIN "PointCloudMapLoaderNode"
27-
EXECUTABLE pointcloud_map_loader
26+
PLUGIN "autoware::map_loader::PointCloudMapLoaderNode"
27+
EXECUTABLE autoware_pointcloud_map_loader
2828
)
2929

3030
ament_auto_add_library(lanelet2_map_loader_node SHARED
3131
src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
3232
)
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3434
rclcpp_components_register_node(lanelet2_map_loader_node
35-
PLUGIN "Lanelet2MapLoaderNode"
36-
EXECUTABLE lanelet2_map_loader
37-
)
38-
39-
ament_auto_add_library(lanelet2_map_visualization_node SHARED
40-
src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
41-
)
42-
43-
rclcpp_components_register_node(lanelet2_map_visualization_node
44-
PLUGIN "Lanelet2MapVisualizationNode"
45-
EXECUTABLE lanelet2_map_visualization
35+
PLUGIN "autoware::map_loader::Lanelet2MapLoaderNode"
36+
EXECUTABLE autoware_lanelet2_map_loader
4637
)
4738

4839
if(BUILD_TESTING)

‎map/map_loader/README.md ‎map/autoware_map_loader/README.md

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1-
# map_loader package
1+
# autoware_map_loader package
22

33
This package provides the features of loading various maps.
44

@@ -111,7 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
111111

112112
### Parameters
113113

114-
{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }}
114+
{{ json_to_markdown("map/autoware_map_loader/schema/pointcloud_map_loader.schema.json") }}
115115

116116
### Interfaces
117117

@@ -136,7 +136,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
136136

137137
### How to run
138138

139-
`ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
139+
`ros2 run autoware_map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
140140

141141
### Subscribed Topics
142142

@@ -148,27 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
148148

149149
### Parameters
150150

151-
{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
151+
{{ json_to_markdown("map/autoware_map_loader/schema/lanelet2_map_loader.schema.json") }}
152152

153153
`use_waypoints` decides how to handle a centerline.
154154
This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail.
155-
156-
---
157-
158-
## lanelet2_map_visualization
159-
160-
### Feature
161-
162-
lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
163-
164-
### How to Run
165-
166-
`ros2 run map_loader lanelet2_map_visualization`
167-
168-
### Subscribed Topics
169-
170-
- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
171-
172-
### Published Topics
173-
174-
- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

‎map/map_loader/config/lanelet2_map_loader.param.yaml ‎map/autoware_map_loader/config/lanelet2_map_loader.param.yaml

File renamed without changes.

‎map/map_loader/config/pointcloud_map_loader.param.yaml ‎map/autoware_map_loader/config/pointcloud_map_loader.param.yaml

File renamed without changes.

‎map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp ‎map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp

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@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
16-
#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
15+
#ifndef AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
16+
#define AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
1717

1818
#include <autoware/component_interface_specs/map.hpp>
1919
#include <autoware/component_interface_utils/rclcpp.hpp>
@@ -28,6 +28,8 @@
2828
#include <memory>
2929
#include <string>
3030

31+
namespace autoware::map_loader
32+
{
3133
class Lanelet2MapLoaderNode : public rclcpp::Node
3234
{
3335
public:
@@ -52,5 +54,6 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
5254
sub_map_projector_info_;
5355
rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr pub_map_bin_;
5456
};
57+
} // namespace autoware::map_loader
5558

56-
#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
59+
#endif // AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_

‎map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml

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1+
<launch>
2+
<arg name="lanelet2_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/lanelet2_map_loader.param.yaml"/>
3+
<arg name="lanelet2_map_path"/>
4+
<arg name="lanelet2_map_topic" default="vector_map"/>
5+
<arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
6+
7+
<node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator" output="both">
8+
<param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
9+
</node>
10+
11+
<node pkg="autoware_map_loader" exec="lanelet2_map_loader" name="lanelet2_map_loader" output="both">
12+
<remap from="output/lanelet2_map" to="$(var lanelet2_map_topic)"/>
13+
<param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
14+
</node>
15+
</launch>

‎map/map_loader/launch/pointcloud_map_loader.launch.xml ‎map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml

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@@ -1,9 +1,9 @@
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<launch>
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<arg name="pointcloud_map_path"/>
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<arg name="pointcloud_map_metadata_path"/>
4-
<arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share map_loader)/config/pointcloud_map_loader.param.yaml"/>
4+
<arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/pointcloud_map_loader.param.yaml"/>
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6-
<node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
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<node pkg="autoware_map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
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<remap from="output/pointcloud_map" to="/map/pointcloud_map"/>
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<remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
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<remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>

‎map/map_loader/package.xml ‎map/autoware_map_loader/package.xml

+2-2
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@@ -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>map_loader</name>
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<name>autoware_map_loader</name>
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<version>0.38.0</version>
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<description>The map_loader package</description>
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<description>The autoware_map_loader package</description>
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<maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
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<maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
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<maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>

‎map/map_loader/schema/lanelet2_map_loader.schema.json ‎map/autoware_map_loader/schema/lanelet2_map_loader.schema.json

File renamed without changes.

‎map/map_loader/schema/pointcloud_map_loader.schema.json ‎map/autoware_map_loader/schema/pointcloud_map_loader.schema.json

File renamed without changes.

‎map/map_loader/script/map_hash_generator ‎map/autoware_map_loader/script/map_hash_generator

File renamed without changes.

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