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kosuke55KhalilSelyan
kosuke55
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refactor(mission_planner)!: add autoware prefix and namespace (#7414)
* refactor(mission_planner)!: add autoware prefix and namespace Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix svg Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
1 parent fb97ad3 commit d3cff29

34 files changed

+56
-54
lines changed

‎.github/CODEOWNERS

+1-1
Original file line numberDiff line numberDiff line change
@@ -185,7 +185,7 @@ planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp m
185185
planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
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planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
187187
planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
188-
planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
188+
planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
189189
planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
190190
planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
191191
planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp

‎launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
11
<launch>
2-
<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>
2+
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
33
<group>
4-
<include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml">
4+
<include file="$(find-pkg-share autoware_mission_planner)/launch/mission_planner.launch.xml">
55
<arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
66
</include>
77
</group>
88
<group>
9-
<include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
9+
<include file="$(find-pkg-share autoware_mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
1010
</group>
1111
</launch>

‎launch/tier4_planning_launch/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -62,6 +62,7 @@
6262
<exec_depend>autoware_external_cmd_selector</exec_depend>
6363
<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
6464
<exec_depend>autoware_freespace_planner</exec_depend>
65+
<exec_depend>autoware_mission_planner</exec_depend>
6566
<exec_depend>autoware_path_optimizer</exec_depend>
6667
<exec_depend>autoware_planning_topic_converter</exec_depend>
6768
<exec_depend>autoware_planning_validator</exec_depend>
@@ -71,7 +72,6 @@
7172
<exec_depend>autoware_velocity_smoother</exec_depend>
7273
<exec_depend>behavior_path_planner</exec_depend>
7374
<exec_depend>glog_component</exec_depend>
74-
<exec_depend>mission_planner</exec_depend>
7575
<exec_depend>obstacle_cruise_planner</exec_depend>
7676
<exec_depend>obstacle_stop_planner</exec_depend>
7777
<exec_depend>planning_evaluator</exec_depend>

‎planning/mission_planner/CMakeLists.txt ‎planning/autoware_mission_planner/CMakeLists.txt

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

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(goal_pose_visualizer_component SHARED
99
)
1010

1111
rclcpp_components_register_node(goal_pose_visualizer_component
12-
PLUGIN "mission_planner::GoalPoseVisualizer"
12+
PLUGIN "autoware::mission_planner::GoalPoseVisualizer"
1313
EXECUTABLE goal_pose_visualizer
1414
)
1515

@@ -21,20 +21,20 @@ ament_auto_add_library(${PROJECT_NAME}_component SHARED
2121
)
2222

2323
rclcpp_components_register_node(${PROJECT_NAME}_component
24-
PLUGIN "mission_planner::MissionPlanner"
24+
PLUGIN "autoware::mission_planner::MissionPlanner"
2525
EXECUTABLE mission_planner
2626
)
2727

2828
rclcpp_components_register_node(${PROJECT_NAME}_component
29-
PLUGIN "mission_planner::RouteSelector"
29+
PLUGIN "autoware::mission_planner::RouteSelector"
3030
EXECUTABLE route_selector
3131
)
3232

3333
ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
3434
src/lanelet2_plugins/default_planner.cpp
3535
src/lanelet2_plugins/utility_functions.cpp
3636
)
37-
pluginlib_export_plugin_description_file(mission_planner plugins/plugin_description.xml)
37+
pluginlib_export_plugin_description_file(autoware_mission_planner plugins/plugin_description.xml)
3838

3939
ament_auto_package(
4040
INSTALL_TO_SHARE

‎planning/mission_planner/README.md ‎planning/autoware_mission_planner/README.md

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‎planning/mission_planner/config/mission_planner.param.yaml ‎planning/autoware_mission_planner/config/mission_planner.param.yaml

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‎planning/mission_planner/include/mission_planner/mission_planner_plugin.hpp ‎planning/autoware_mission_planner/include/mission_planner/mission_planner_plugin.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@
2424

2525
#include <vector>
2626

27-
namespace mission_planner
27+
namespace autoware::mission_planner
2828
{
2929

3030
class PlannerPlugin
@@ -45,6 +45,6 @@ class PlannerPlugin
4545
virtual void clearRoute() = 0;
4646
};
4747

48-
} // namespace mission_planner
48+
} // namespace autoware::mission_planner
4949

5050
#endif // MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_

‎planning/mission_planner/launch/goal_pose_visualizer.launch.xml ‎planning/autoware_mission_planner/launch/goal_pose_visualizer.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<arg name="route_topic_name" default="/planning/mission_planning/route"/>
33
<arg name="echo_back_goal_pose_topic_name" default="/planning/mission_planning/echo_back_goal_pose"/>
44

5-
<node pkg="mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
5+
<node pkg="autoware_mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
66
<remap from="input/route" to="$(var route_topic_name)"/>
77
<remap from="output/goal_pose" to="$(var echo_back_goal_pose_topic_name)"/>
88
</node>

‎planning/mission_planner/launch/mission_planner.launch.xml ‎planning/autoware_mission_planner/launch/mission_planner.launch.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -2,10 +2,10 @@
22
<arg name="modified_goal_topic_name" default="/planning/scenario_planning/modified_goal"/>
33
<arg name="map_topic_name" default="/map/vector_map"/>
44
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
5-
<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>
5+
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
66

77
<node_container pkg="rclcpp_components" exec="component_container_mt" name="mission_planner_container" namespace="">
8-
<composable_node pkg="mission_planner" plugin="mission_planner::MissionPlanner" name="mission_planner" namespace="">
8+
<composable_node pkg="autoware_mission_planner" plugin="autoware::mission_planner::MissionPlanner" name="mission_planner" namespace="">
99
<param from="$(var mission_planner_param_path)"/>
1010
<remap from="~/input/modified_goal" to="$(var modified_goal_topic_name)"/>
1111
<remap from="~/input/vector_map" to="$(var map_topic_name)"/>
@@ -15,7 +15,7 @@
1515
<remap from="~/state" to="state"/>
1616
<remap from="~/debug/route_marker" to="$(var visualization_topic_name)"/>
1717
</composable_node>
18-
<composable_node pkg="mission_planner" plugin="mission_planner::RouteSelector" name="route_selector" namespace="">
18+
<composable_node pkg="autoware_mission_planner" plugin="autoware::mission_planner::RouteSelector" name="route_selector" namespace="">
1919
<remap from="~/planner/clear_route" to="mission_planner/clear_route"/>
2020
<remap from="~/planner/set_lanelet_route" to="mission_planner/set_lanelet_route"/>
2121
<remap from="~/planner/set_waypoint_route" to="mission_planner/set_waypoint_route"/>

‎planning/mission_planner/media/architecture.drawio.svg ‎planning/autoware_mission_planner/media/architecture.drawio.svg

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‎planning/mission_planner/media/goal_footprints.svg ‎planning/autoware_mission_planner/media/goal_footprints.svg

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‎planning/mission_planner/media/rerouting_safety.svg ‎planning/autoware_mission_planner/media/rerouting_safety.svg

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‎planning/mission_planner/media/route_sections.svg ‎planning/autoware_mission_planner/media/route_sections.svg

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‎planning/mission_planner/package.xml ‎planning/autoware_mission_planner/package.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -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>mission_planner</name>
4+
<name>autoware_mission_planner</name>
55
<version>0.1.0</version>
6-
<description>The mission_planner package</description>
6+
<description>The autoware_mission_planner package</description>
77
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
88
<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
99
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>

‎planning/autoware_mission_planner/plugins/plugin_description.xml

+3
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
<library path="autoware_mission_planner_lanelet2_plugins">
2+
<class type="autoware::mission_planner::lanelet2::DefaultPlanner" base_class_type="autoware::mission_planner::PlannerPlugin"/>
3+
</library>

‎planning/mission_planner/schema/mission_planner.schema.json ‎planning/autoware_mission_planner/schema/mission_planner.schema.json

File renamed without changes.

‎planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp ‎planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
1414

1515
#include "goal_pose_visualizer.hpp"
1616

17-
namespace mission_planner
17+
namespace autoware::mission_planner
1818
{
1919
GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options)
2020
: Node("goal_pose_visualizer", node_options)
@@ -34,7 +34,7 @@ void GoalPoseVisualizer::echo_back_route_callback(
3434
goal_pose.pose = msg->goal_pose;
3535
pub_goal_pose_->publish(goal_pose);
3636
}
37-
} // namespace mission_planner
37+
} // namespace autoware::mission_planner
3838

3939
#include <rclcpp_components/register_node_macro.hpp>
40-
RCLCPP_COMPONENTS_REGISTER_NODE(mission_planner::GoalPoseVisualizer)
40+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::GoalPoseVisualizer)

‎planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp ‎planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
2121
#include <geometry_msgs/msg/pose_stamped.hpp>
2222

23-
namespace mission_planner
23+
namespace autoware::mission_planner
2424
{
2525
class GoalPoseVisualizer : public rclcpp::Node
2626
{
@@ -35,5 +35,5 @@ class GoalPoseVisualizer : public rclcpp::Node
3535
const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr msg);
3636
};
3737

38-
} // namespace mission_planner
38+
} // namespace autoware::mission_planner
3939
#endif // GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_

‎planning/mission_planner/src/lanelet2_plugins/default_planner.cpp ‎planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -140,7 +140,7 @@ geometry_msgs::msg::Pose get_closest_centerline_pose(
140140

141141
} // anonymous namespace
142142

143-
namespace mission_planner::lanelet2
143+
namespace autoware::mission_planner::lanelet2
144144
{
145145

146146
void DefaultPlanner::initialize_common(rclcpp::Node * node)
@@ -482,7 +482,8 @@ void DefaultPlanner::clearRoute()
482482
route_handler_.clearRoute();
483483
}
484484

485-
} // namespace mission_planner::lanelet2
485+
} // namespace autoware::mission_planner::lanelet2
486486

487487
#include <pluginlib/class_list_macros.hpp>
488-
PLUGINLIB_EXPORT_CLASS(mission_planner::lanelet2::DefaultPlanner, mission_planner::PlannerPlugin)
488+
PLUGINLIB_EXPORT_CLASS(
489+
autoware::mission_planner::lanelet2::DefaultPlanner, autoware::mission_planner::PlannerPlugin)

‎planning/mission_planner/src/lanelet2_plugins/default_planner.hpp ‎planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,7 @@
3030
#include <memory>
3131
#include <vector>
3232

33-
namespace mission_planner::lanelet2
33+
namespace autoware::mission_planner::lanelet2
3434
{
3535

3636
struct DefaultPlannerParameters
@@ -101,6 +101,6 @@ class DefaultPlanner : public mission_planner::PlannerPlugin
101101
Pose refine_goal_height(const Pose & goal, const RouteSections & route_sections);
102102
};
103103

104-
} // namespace mission_planner::lanelet2
104+
} // namespace autoware::mission_planner::lanelet2
105105

106106
#endif // LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_

‎planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp ‎planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp

File renamed without changes.

‎planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp ‎planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp

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‎planning/mission_planner/src/mission_planner/arrival_checker.cpp ‎planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020

2121
#include <tf2/utils.h>
2222

23-
namespace mission_planner
23+
namespace autoware::mission_planner
2424
{
2525

2626
ArrivalChecker::ArrivalChecker(rclcpp::Node * node) : vehicle_stop_checker_(node)
@@ -83,4 +83,4 @@ bool ArrivalChecker::is_arrived(const PoseStamped & pose) const
8383
return vehicle_stop_checker_.isVehicleStopped(duration_);
8484
}
8585

86-
} // namespace mission_planner
86+
} // namespace autoware::mission_planner

‎planning/mission_planner/src/mission_planner/arrival_checker.hpp ‎planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
#include <geometry_msgs/msg/pose.hpp>
2323
#include <geometry_msgs/msg/pose_stamped.hpp>
2424

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

2828
class ArrivalChecker
@@ -45,6 +45,6 @@ class ArrivalChecker
4545
motion_utils::VehicleStopChecker vehicle_stop_checker_;
4646
};
4747

48-
} // namespace mission_planner
48+
} // namespace autoware::mission_planner
4949

5050
#endif // MISSION_PLANNER__ARRIVAL_CHECKER_HPP_

‎planning/mission_planner/src/mission_planner/mission_planner.cpp ‎planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp

+6-5
Original file line numberDiff line numberDiff line change
@@ -29,13 +29,13 @@
2929
#include <algorithm>
3030
#include <utility>
3131

32-
namespace mission_planner
32+
namespace autoware::mission_planner
3333
{
3434

3535
MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
3636
: Node("mission_planner", options),
3737
arrival_checker_(this),
38-
plugin_loader_("mission_planner", "mission_planner::PlannerPlugin"),
38+
plugin_loader_("autoware_mission_planner", "autoware::mission_planner::PlannerPlugin"),
3939
tf_buffer_(get_clock()),
4040
tf_listener_(tf_buffer_),
4141
odometry_(nullptr),
@@ -48,7 +48,8 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
4848
reroute_time_threshold_ = declare_parameter<double>("reroute_time_threshold");
4949
minimum_reroute_length_ = declare_parameter<double>("minimum_reroute_length");
5050

51-
planner_ = plugin_loader_.createSharedInstance("mission_planner::lanelet2::DefaultPlanner");
51+
planner_ =
52+
plugin_loader_.createSharedInstance("autoware::mission_planner::lanelet2::DefaultPlanner");
5253
planner_->initialize(this);
5354

5455
const auto reroute_availability = std::make_shared<RerouteAvailability>();
@@ -614,7 +615,7 @@ bool MissionPlanner::check_reroute_safety(
614615
accumulated_length, safety_length);
615616
return false;
616617
}
617-
} // namespace mission_planner
618+
} // namespace autoware::mission_planner
618619

619620
#include <rclcpp_components/register_node_macro.hpp>
620-
RCLCPP_COMPONENTS_REGISTER_NODE(mission_planner::MissionPlanner)
621+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::MissionPlanner)

‎planning/mission_planner/src/mission_planner/mission_planner.hpp ‎planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@
4141
#include <string>
4242
#include <vector>
4343

44-
namespace mission_planner
44+
namespace autoware::mission_planner
4545
{
4646

4747
using autoware_map_msgs::msg::LaneletMapBin;
@@ -134,6 +134,6 @@ class MissionPlanner : public rclcpp::Node
134134
std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
135135
};
136136

137-
} // namespace mission_planner
137+
} // namespace autoware::mission_planner
138138

139139
#endif // MISSION_PLANNER__MISSION_PLANNER_HPP_

‎planning/mission_planner/src/mission_planner/route_selector.cpp ‎planning/autoware_mission_planner/src/mission_planner/route_selector.cpp

+5-5
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020
#include <memory>
2121
#include <random>
2222

23-
namespace mission_planner::uuid
23+
namespace autoware::mission_planner::uuid
2424
{
2525

2626
std::array<uint8_t, 16> generate_random_id()
@@ -40,9 +40,9 @@ UUID generate_if_empty(const UUID & uuid)
4040
return result;
4141
}
4242

43-
} // namespace mission_planner::uuid
43+
} // namespace autoware::mission_planner::uuid
4444

45-
namespace mission_planner
45+
namespace autoware::mission_planner
4646
{
4747

4848
RouteInterface::RouteInterface(rclcpp::Clock::SharedPtr clock)
@@ -296,7 +296,7 @@ ResponseStatus RouteSelector::resume_main_route(ClearRoute::Request::SharedPtr r
296296
throw std::logic_error("route_selector: unknown main route request");
297297
}
298298

299-
} // namespace mission_planner
299+
} // namespace autoware::mission_planner
300300

301301
#include <rclcpp_components/register_node_macro.hpp>
302-
RCLCPP_COMPONENTS_REGISTER_NODE(mission_planner::RouteSelector)
302+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::RouteSelector)

‎planning/mission_planner/src/mission_planner/route_selector.hpp ‎planning/autoware_mission_planner/src/mission_planner/route_selector.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
#include <optional>
2727
#include <variant>
2828

29-
namespace mission_planner
29+
namespace autoware::mission_planner
3030
{
3131

3232
using autoware_common_msgs::msg::ResponseStatus;
@@ -101,6 +101,6 @@ class RouteSelector : public rclcpp::Node
101101
ResponseStatus resume_main_route(ClearRoute::Request::SharedPtr req);
102102
};
103103

104-
} // namespace mission_planner
104+
} // namespace autoware::mission_planner
105105

106106
#endif // MISSION_PLANNER__ROUTE_SELECTOR_HPP_

‎planning/mission_planner/src/mission_planner/service_utils.cpp ‎planning/autoware_mission_planner/src/mission_planner/service_utils.cpp

File renamed without changes.

‎planning/mission_planner/src/mission_planner/service_utils.hpp ‎planning/autoware_mission_planner/src/mission_planner/service_utils.hpp

File renamed without changes.

‎planning/autoware_static_centerline_generator/package.xml

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Original file line numberDiff line numberDiff line change
@@ -17,6 +17,7 @@
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<depend>autoware_behavior_path_planner_common</depend>
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<depend>autoware_map_msgs</depend>
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<depend>autoware_mission_planner</depend>
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<depend>autoware_path_optimizer</depend>
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<depend>autoware_path_smoother</depend>
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<depend>autoware_perception_msgs</depend>
@@ -29,7 +30,6 @@
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<depend>lanelet2_extension</depend>
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<depend>map_loader</depend>
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<depend>map_projection_loader</depend>
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<depend>mission_planner</depend>
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<depend>motion_utils</depend>
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<depend>osqp_interface</depend>
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<depend>rclcpp</depend>

‎planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp

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Original file line numberDiff line numberDiff line change
@@ -439,10 +439,10 @@ std::vector<lanelet::Id> StaticCenterlineGeneratorNode::plan_route(
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// plan route by the mission_planner package
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const auto route = [&]() {
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// create mission_planner plugin
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auto plugin_loader = pluginlib::ClassLoader<mission_planner::PlannerPlugin>(
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"mission_planner", "mission_planner::PlannerPlugin");
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auto plugin_loader = pluginlib::ClassLoader<autoware::mission_planner::PlannerPlugin>(
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"autoware_mission_planner", "autoware::mission_planner::PlannerPlugin");
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auto mission_planner =
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plugin_loader.createSharedInstance("mission_planner::lanelet2::DefaultPlanner");
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plugin_loader.createSharedInstance("autoware::mission_planner::lanelet2::DefaultPlanner");
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// initialize mission_planner
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auto node = rclcpp::Node("mission_planner");

‎planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py

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@@ -46,7 +46,7 @@ def generate_test_description():
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{"start_lanelet_id": 215},
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{"end_lanelet_id": 216},
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os.path.join(
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get_package_share_directory("mission_planner"),
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get_package_share_directory("autoware_mission_planner"),
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"config",
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"mission_planner.param.yaml",
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),

‎planning/mission_planner/plugins/plugin_description.xml

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