fix: directory structure

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>

Author: veqcc

system/emergency_handler/CMakeLists.txt

@@ -5,10 +5,10 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_executable(emergency_handler
-  src/emergency_handler/emergency_handler_node.cpp
-  src/emergency_handler/emergency_handler_core.cpp
-  src/operators/emergency_stop.cpp
-  src/operators/comfortable_stop.cpp
+  src/emergency_handler_node.cpp
+  src/emergency_handler_core.cpp
+  src/emergency_stop_operator.cpp
+  src/comfortable_stop_operator.cpp
 )
 
 ament_auto_package(INSTALL_TO_SHARE

system/emergency_handler/config/emergency_handler.param.yaml

@@ -12,12 +12,12 @@
       emergency: true
 
     # emergency stop operator class
-    emergency_stop:
+    emergency_stop_operator:
       target_acceleration: -2.5
       target_jerk: -1.5
 
     # comfortable stop operator class
-    comfortable_stop:
+    comfortable_stop_operator:
       min_acceleration: -1.0
       max_jerk: 0.3
       min_jerk: -0.3

system/emergency_handler/schema/emergency_handler.schema.json

@@ -37,7 +37,7 @@
           },
           "required": ["emergency"]
         },
-        "emergency_stop": {
+        "emergency_stop_operator": {
           "type": "object",
           "properties": {
             "target_acceleration": {
@@ -53,7 +53,7 @@
           },
           "required": ["target_acceleration", "target_jerk"]
         },
-        "comfortable_stop": {
+        "comfortable_stop_operator": {
           "type": "object",
           "properties": {
             "min_acceleration": {

system/emergency_handler/src/operators/comfortable_stop.cpp system/emergency_handler/src/comfortable_stop_operator.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "operators/comfortable_stop.hpp"
+#include "comfortable_stop_operator.hpp"
 
 namespace emergency_handler
 {
@@ -23,9 +23,9 @@ namespace comfortable_stop_operator
 ComfortableStopOperator::ComfortableStopOperator(rclcpp::Node * node) : node_(node)
 {
   // Parameter
-  params_.min_acceleration = node_->declare_parameter<double>("comfortable_stop.min_acceleration");
-  params_.max_jerk = node_->declare_parameter<double>("comfortable_stop.max_jerk");
-  params_.min_jerk = node_->declare_parameter<double>("comfortable_stop.min_jerk");
+  params_.min_acceleration = node_->declare_parameter<double>("comfortable_stop_operator.min_acceleration");
+  params_.max_jerk = node_->declare_parameter<double>("comfortable_stop_operator.max_jerk");
+  params_.min_jerk = node_->declare_parameter<double>("comfortable_stop_operator.min_jerk");
 
   // Publisher
   pub_velocity_limit_ = node_->create_publisher<tier4_planning_msgs::msg::VelocityLimit>(

system/emergency_handler/include/operators/comfortable_stop.hpp system/emergency_handler/src/comfortable_stop_operator.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPERATORS__COMFORTABLE_STOP_HPP_
-#define OPERATORS__COMFORTABLE_STOP_HPP_
+#ifndef COMFORTABLE_STOP_OPERATOR_HPP_
+#define COMFORTABLE_STOP_OPERATOR_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -61,4 +61,4 @@ class ComfortableStopOperator
 
 }  // namespace emergency_handler
 
-#endif  // OPERATORS__COMFORTABLE_STOP_HPP_
+#endif  // COMFORTABLE_STOP_OPERATOR_HPP_

system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp system/emergency_handler/src/emergency_handler_core.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "emergency_handler/emergency_handler_core.hpp"
+#include "emergency_handler_core.hpp"
 
 #include <memory>
 #include <string>

system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp system/emergency_handler/src/emergency_handler_core.hpp

@@ -33,8 +33,8 @@
 #include <nav_msgs/msg/odometry.hpp>
 
 // Operators
-#include "operators/comfortable_stop.hpp"
-#include "operators/emergency_stop.hpp"
+#include "comfortable_stop_operator.hpp"
+#include "emergency_stop_operator.hpp"
 
 namespace emergency_handler
 {

system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp system/emergency_handler/src/emergency_handler_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "emergency_handler/emergency_handler_core.hpp"
+#include "emergency_handler_core.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

system/emergency_handler/src/operators/emergency_stop.cpp system/emergency_handler/src/emergency_stop_operator.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "operators/emergency_stop.hpp"
+#include "emergency_stop_operator.hpp"
 
 namespace emergency_handler
 {
@@ -24,8 +24,8 @@ EmergencyStopOperator::EmergencyStopOperator(rclcpp::Node * node) : node_(node)
 {
   // Parameter
   params_.target_acceleration =
-    node_->declare_parameter<double>("emergency_stop.target_acceleration");
-  params_.target_jerk = node_->declare_parameter<double>("emergency_stop.target_jerk");
+    node_->declare_parameter<double>("emergency_stop_operator.target_acceleration");
+  params_.target_jerk = node_->declare_parameter<double>("emergency_stop_operator.target_jerk");
 
   // Subscriber
   sub_control_cmd_ = node_->create_subscription<AckermannControlCommand>(

system/emergency_handler/include/operators/emergency_stop.hpp system/emergency_handler/src/emergency_stop_operator.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPERATORS__EMERGENCY_STOP_HPP_
-#define OPERATORS__EMERGENCY_STOP_HPP_
+#ifndef EMERGENCY_STOP_OPERATOR_HPP_
+#define EMERGENCY_STOP_OPERATOR_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -64,4 +64,4 @@ class EmergencyStopOperator
 
 }  // namespace emergency_handler
 
-#endif  // OPERATORS__EMERGENCY_STOP_HPP_
+#endif  // EMERGENCY_STOP_OPERATOR_HPP_