refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (#7565)

* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware

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

* style(pre-commit): autofix

---------

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

@@ -151,6 +151,7 @@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp taka
 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
 planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
 planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
@@ -195,7 +196,6 @@ planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limi
 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
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
-planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp

launch/tier4_planning_launch/package.xml

@@ -65,6 +65,7 @@
   <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_mission_planner</exec_depend>
   <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
+  <exec_depend>autoware_obstacle_stop_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_evaluator</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
@@ -74,7 +75,6 @@
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>glog_component</exec_depend>
-  <exec_depend>obstacle_stop_planner</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

planning/.pages

@@ -48,7 +48,7 @@ nav:
     - 'Obstacle Cruise Planner':
       - 'About Obstacle Cruise': planning/autoware_obstacle_cruise_planner
       - 'How to Debug': planning/autoware_obstacle_cruise_planner/docs/debug
-    - 'Obstacle Stop Planner': planning/obstacle_stop_planner
+    - 'Obstacle Stop Planner': planning/autoware_obstacle_stop_planner
     - 'Path Smoother':
       - 'About Path Smoother': planning/autoware_path_smoother
       - 'Elastic Band': planning/autoware_path_smoother/docs/eb

planning/obstacle_stop_planner/CMakeLists.txt planning/autoware_obstacle_stop_planner/CMakeLists.txt

@@ -1,32 +1,32 @@
 cmake_minimum_required(VERSION 3.14)
-project(obstacle_stop_planner)
+project(autoware_obstacle_stop_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
 
-ament_auto_add_library(obstacle_stop_planner SHARED
-  src/debug_marker.cpp
-  src/node.cpp
-  src/planner_utils.cpp
-  src/adaptive_cruise_control.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  DIRECTORY
+  src
 )
 
-target_include_directories(obstacle_stop_planner
+target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     ${PCL_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIR}
+  INTERFACE
+    src
 )
 
-target_link_libraries(obstacle_stop_planner
+target_link_libraries(${PROJECT_NAME}
     ${PCL_LIBRARIES}
 )
 
-rclcpp_components_register_node(obstacle_stop_planner
+rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "motion_planning::ObstacleStopPlannerNode"
-  EXECUTABLE obstacle_stop_planner_node
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)

planning/obstacle_stop_planner/README.md planning/autoware_obstacle_stop_planner/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>obstacle_stop_planner</name>
+  <name>autoware_obstacle_stop_planner</name>
   <version>0.1.0</version>
-  <description>The obstacle_stop_planner package</description>
+  <description>The autoware_obstacle_stop_planner package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>

planning/obstacle_stop_planner/config/adaptive_cruise_control.param.yaml planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/adaptive_cruise_control.hpp"
+#include "adaptive_cruise_control.hpp"
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 
@@ -35,6 +35,7 @@
 #include <algorithm>
 #include <limits>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace bg = boost::geometry;
@@ -122,7 +123,7 @@ constexpr double sign(const double value)
 }
 }  // namespace
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 AdaptiveCruiseController::AdaptiveCruiseController(
   rclcpp::Node * node, const double vehicle_width, const double vehicle_length,
@@ -783,4 +784,4 @@ double AdaptiveCruiseController::lowpass_filter(
   return gain * prev_value + (1.0 - gain) * current_value;
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning

planning/obstacle_stop_planner/config/common.param.yaml planning/autoware_obstacle_stop_planner/config/common.param.yaml

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
-#define OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
+#ifndef ADAPTIVE_CRUISE_CONTROL_HPP_
+#define ADAPTIVE_CRUISE_CONTROL_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -29,7 +29,7 @@
 #include <optional>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
@@ -232,6 +232,6 @@ class AdaptiveCruiseController
   static constexpr unsigned int num_debug_values_ = 10;
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
+#endif  // ADAPTIVE_CRUISE_CONTROL_HPP_

planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/debug_marker.hpp"
+#include "debug_marker.hpp"
 
 #include <autoware/motion_utils/marker/marker_helper.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
@@ -24,6 +24,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+#include <limits>
 #include <memory>
 #include <vector>
 
@@ -38,7 +39,7 @@ using autoware::universe_utils::createMarkerColor;
 using autoware::universe_utils::createMarkerScale;
 using autoware::universe_utils::createPoint;
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode(
   rclcpp::Node * node, const double base_link2front)
@@ -458,39 +459,35 @@ MarkerArray ObstacleStopPlannerDebugNode::makeVisualizationMarker()
   }
 
   if (stop_obstacle_point_ptr_ != nullptr) {
-    auto marker = createDefaultMarker(
+    auto marker1 = createDefaultMarker(
       "map", current_time, "stop_obstacle_point", 0, Marker::SPHERE,
       createMarkerScale(0.25, 0.25, 0.25), createMarkerColor(1.0, 0.0, 0.0, 0.999));
-    marker.pose.position = *stop_obstacle_point_ptr_;
-    msg.markers.push_back(marker);
-  }
+    marker1.pose.position = *stop_obstacle_point_ptr_;
+    msg.markers.push_back(marker1);
 
-  if (stop_obstacle_point_ptr_ != nullptr) {
-    auto marker = createDefaultMarker(
+    auto marker2 = createDefaultMarker(
       "map", current_time, "stop_obstacle_text", 0, Marker::TEXT_VIEW_FACING,
       createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));
-    marker.pose.position = *stop_obstacle_point_ptr_;
-    marker.pose.position.z += 2.0;
-    marker.text = "!";
-    msg.markers.push_back(marker);
+    marker2.pose.position = *stop_obstacle_point_ptr_;
+    marker2.pose.position.z += 2.0;
+    marker2.text = "!";
+    msg.markers.push_back(marker2);
   }
 
   if (slow_down_obstacle_point_ptr_ != nullptr) {
-    auto marker = createDefaultMarker(
+    auto marker1 = createDefaultMarker(
       "map", current_time, "slow_down_obstacle_point", 0, Marker::SPHERE,
       createMarkerScale(0.25, 0.25, 0.25), createMarkerColor(1.0, 0.0, 0.0, 0.999));
-    marker.pose.position = *slow_down_obstacle_point_ptr_;
-    msg.markers.push_back(marker);
-  }
+    marker1.pose.position = *slow_down_obstacle_point_ptr_;
+    msg.markers.push_back(marker1);
 
-  if (slow_down_obstacle_point_ptr_ != nullptr) {
-    auto marker = createDefaultMarker(
+    auto marker2 = createDefaultMarker(
       "map", current_time, "slow_down_obstacle_text", 0, Marker::TEXT_VIEW_FACING,
       createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));
-    marker.pose.position = *slow_down_obstacle_point_ptr_;
-    marker.pose.position.z += 2.0;
-    marker.text = "!";
-    msg.markers.push_back(marker);
+    marker2.pose.position = *slow_down_obstacle_point_ptr_;
+    marker2.pose.position.z += 2.0;
+    marker2.text = "!";
+    msg.markers.push_back(marker2);
   }
 
   return msg;
@@ -542,4 +539,4 @@ VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray()
   return velocity_factor_array;
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning

planning/obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml planning/autoware_obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
-#define OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
+#ifndef DEBUG_MARKER_HPP_
+#define DEBUG_MARKER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -34,7 +34,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 using geometry_msgs::msg::Point;
@@ -154,6 +154,6 @@ class ObstacleStopPlannerDebugNode
   DebugValues debug_values_;
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
+#endif  // DEBUG_MARKER_HPP_

planning/obstacle_stop_planner/config/plot_juggler_slow_down.xml planning/autoware_obstacle_stop_planner/config/plot_juggler_slow_down.xml

@@ -20,8 +20,8 @@
 #include <vector>
 
 #define EIGEN_MPL2_ONLY
-#include "obstacle_stop_planner/node.hpp"
-#include "obstacle_stop_planner/planner_utils.hpp"
+#include "node.hpp"
+#include "planner_utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -38,7 +38,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 using autoware::motion_utils::calcLongitudinalOffsetPose;
 using autoware::motion_utils::calcLongitudinalOffsetToSegment;
@@ -1601,7 +1601,7 @@ void ObstacleStopPlannerNode::publishDebugData(
   debug_ptr_->publish();
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(motion_planning::ObstacleStopPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion_planning::ObstacleStopPlannerNode)

planning/obstacle_stop_planner/config/rqt_multiplot_adaptive_cruise.xml planning/autoware_obstacle_stop_planner/config/rqt_multiplot_adaptive_cruise.xml

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__NODE_HPP_
-#define OBSTACLE_STOP_PLANNER__NODE_HPP_
+#ifndef NODE_HPP_
+#define NODE_HPP_
 
+#include "adaptive_cruise_control.hpp"
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
-#include "obstacle_stop_planner/adaptive_cruise_control.hpp"
-#include "obstacle_stop_planner/debug_marker.hpp"
-#include "obstacle_stop_planner/planner_data.hpp"
+#include "debug_marker.hpp"
+#include "planner_data.hpp"
 
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
@@ -62,7 +62,7 @@
 #include <utility>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 namespace bg = boost::geometry;
@@ -319,6 +319,6 @@ class ObstacleStopPlannerNode : public rclcpp::Node
 
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__NODE_HPP_
+#endif  // NODE_HPP_

planning/obstacle_stop_planner/docs/adaptive_cruise.drawio.svg planning/autoware_obstacle_stop_planner/docs/adaptive_cruise.drawio.svg

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
-#define OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
+#ifndef PLANNER_DATA_HPP_
+#define PLANNER_DATA_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -27,7 +27,7 @@
 
 #include <map>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 using diagnostic_msgs::msg::DiagnosticStatus;
@@ -282,6 +282,6 @@ struct PlannerData
   bool enable_adaptive_cruise{false};
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
+#endif  // PLANNER_DATA_HPP_

planning/obstacle_stop_planner/docs/collision_parameters.svg planning/autoware_obstacle_stop_planner/docs/collision_parameters.svg

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/planner_utils.hpp"
+#include "planner_utils.hpp"
 
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/conversion.hpp>
@@ -29,7 +29,10 @@
 
 #include <pcl_conversions/pcl_conversions.h>
 
-namespace motion_planning
+#include <algorithm>
+#include <limits>
+
+namespace autoware::motion_planning
 {
 
 using autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints;
@@ -720,4 +723,4 @@ double calcObstacleMaxLength(const autoware_perception_msgs::msg::Shape & shape)
   throw std::logic_error("The shape type is not supported in obstacle_cruise_planner.");
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning