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feat: port autoware_motion_velocity_planner_node to core #10293

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feat: port autoware_motion_velocity_planner_node to core #10293

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36c4c88
feat(autoware_motion_velocity_planner_node) modify tier4_metric_msgs …
Mar 13, 2025
00b742a
Merge branch 'autowarefoundation:main' into universe2core/autoware_mo…
storrrrrrrrm Mar 18, 2025
f8407fc
feat: keep package name with suffix
Mar 19, 2025
574e55f
Merge branch 'universe2core/autoware_motion_velocity_planner_node' of…
Mar 19, 2025
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2 changes: 1 addition & 1 deletion ...ing/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(autoware_motion_velocity_planner_node_universe)
project(autoware_motion_velocity_planner_node)

find_package(autoware_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
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8 changes: 4 additions & 4 deletions ...otion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md
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Expand Up @@ -37,10 +37,10 @@ This means that to stop before a wall, a stop point is inserted in the trajector

## Services

| Name | Type | Description |
| ------------------------- | ----------------------------------------------------------------- | ---------------------------- |
| `~/service/load_plugin` | autoware_motion_velocity_planner_node_universe::srv::LoadPlugin | To request loading a plugin |
| `~/service/unload_plugin` | autoware_motion_velocity_planner_node_universe::srv::UnloadPlugin | To request unloaded a plugin |
| Name | Type | Description |
| ------------------------- | -------------------------------------------------------- | ---------------------------- |
| `~/service/load_plugin` | autoware_motion_velocity_planner_node::srv::LoadPlugin | To request loading a plugin |
| `~/service/unload_plugin` | autoware_motion_velocity_planner_node::srv::UnloadPlugin | To request unloaded a plugin |

## Node parameters

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4 changes: 2 additions & 2 deletions .../autoware_motion_velocity_planner_node_universe/launch/motion_velocity_planner.launch.xml
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Expand Up @@ -13,9 +13,9 @@
<arg name="motion_velocity_planner_param_path"/>
<arg name="motion_velocity_planner_out_of_lane_module_param_path"/>
<!-- <arg name="motion_velocity_planner_template_module_param_path"/> -->
<arg name="motion_velocity_planner_param_file" default="$(find-pkg-share autoware_motion_velocity_planner_node_universe)/config/motion_velocity_planner.param.yaml"/>
<arg name="motion_velocity_planner_param_file" default="$(find-pkg-share autoware_motion_velocity_planner_node)/config/motion_velocity_planner.param.yaml"/>

<node pkg="autoware_motion_velocity_planner_node_universe" exec="motion_velocity_planner_node_exe" name="motion_velocity_planner" output="screen">
<node pkg="autoware_motion_velocity_planner_node" exec="motion_velocity_planner_node_exe" name="motion_velocity_planner" output="screen">
<!-- topic remap -->
<remap from="~/input/trajectory" to="trajectory"/>
<remap from="~/input/vector_map" to="/map/vector_map"/>
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3 changes: 2 additions & 1 deletion planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
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Expand Up @@ -19,6 +19,8 @@
<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_internal_metric_msgs</depend>
<depend>autoware_internal_planning_msgs</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_motion_velocity_planner_common_universe</depend>
Expand All @@ -40,7 +42,6 @@
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_metric_msgs</depend>
<depend>visualization_msgs</depend>

<exec_depend>rosidl_default_runtime</exec_depend>
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8 changes: 4 additions & 4 deletions planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp
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Expand Up @@ -18,8 +18,8 @@
#include "planner_manager.hpp"

#include <autoware/motion_velocity_planner_common_universe/planner_data.hpp>
#include <autoware_motion_velocity_planner_node_universe/srv/load_plugin.hpp>
#include <autoware_motion_velocity_planner_node_universe/srv/unload_plugin.hpp>
#include <autoware_motion_velocity_planner_node/srv/load_plugin.hpp>
#include <autoware_motion_velocity_planner_node/srv/unload_plugin.hpp>
#include <autoware_utils/ros/logger_level_configure.hpp>
#include <autoware_utils/ros/polling_subscriber.hpp>
#include <autoware_utils/ros/published_time_publisher.hpp>
Expand Down Expand Up @@ -49,8 +49,8 @@
namespace autoware::motion_velocity_planner
{
using autoware_map_msgs::msg::LaneletMapBin;
using autoware_motion_velocity_planner_node_universe::srv::LoadPlugin;
using autoware_motion_velocity_planner_node_universe::srv::UnloadPlugin;
using autoware_motion_velocity_planner_node::srv::LoadPlugin;
using autoware_motion_velocity_planner_node::srv::UnloadPlugin;
using autoware_planning_msgs::msg::Trajectory;
using tier4_planning_msgs::msg::VelocityLimit;
using tier4_planning_msgs::msg::VelocityLimitClearCommand;
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2 changes: 1 addition & 1 deletion ...n_velocity_planner/autoware_motion_velocity_planner_node_universe/src/planner_manager.cpp
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Expand Up @@ -25,7 +25,7 @@ namespace autoware::motion_velocity_planner

MotionVelocityPlannerManager::MotionVelocityPlannerManager()
: plugin_loader_(
"autoware_motion_velocity_planner_node_universe",
"autoware_motion_velocity_planner_node",
"autoware::motion_velocity_planner::PluginModuleInterface")
{
}
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8 changes: 4 additions & 4 deletions ...n_velocity_planner/autoware_motion_velocity_planner_node_universe/src/planner_manager.hpp
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Expand Up @@ -20,12 +20,12 @@
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_internal_metric_msgs/msg/metric.hpp>
#include <autoware_internal_metric_msgs/msg/metric_array.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <autoware_perception_msgs/msg/predicted_objects.hpp>
#include <autoware_planning_msgs/msg/trajectory.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <tier4_metric_msgs/msg/metric.hpp>
#include <tier4_metric_msgs/msg/metric_array.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_routing/RoutingGraph.h>
Expand All @@ -36,8 +36,8 @@
#include <string>
#include <vector>

using Metric = tier4_metric_msgs::msg::Metric;
using MetricArray = tier4_metric_msgs::msg::MetricArray;
using Metric = autoware_internal_metric_msgs::msg::Metric;
using MetricArray = autoware_internal_metric_msgs::msg::MetricArray;

namespace autoware::motion_velocity_planner
{
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2 changes: 1 addition & 1 deletion ...y_planner/autoware_motion_velocity_planner_node_universe/test/src/test_node_interface.cpp
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Expand Up @@ -45,7 +45,7 @@ std::shared_ptr<MotionVelocityPlannerNode> generateNode()
const auto autoware_test_utils_dir =
ament_index_cpp::get_package_share_directory("autoware_test_utils");
const auto motion_velocity_planner_dir =
ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node_universe");
ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node");
const auto velocity_smoother_dir =
ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");

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