From a2f5d39490c4082d84b4e6feff6c1a845d60d42c Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Wed, 3 Jul 2024 13:40:18 +0200
Subject: [PATCH 1/2] refactor(autoware_tracking_object_merger): move headers
to include/autoware and rename package
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
.github/CODEOWNERS | 2 +-
launch/tier4_perception_launch/package.xml | 3 ++-
.../CMakeLists.txt | 2 +-
.../README.md | 0
.../config/data_association_matrix.param.yaml | 0
.../config/decorative_tracker_merger.param.yaml | 0
.../decorative_tracker_merger_policy.param.yaml | 0
.../image/decorative_tracker_merger.drawio.svg | 0
.../image/time_sync.drawio.svg | 0
.../image/tracklet_management.drawio.svg | 0
.../association/data_association.hpp | 10 +++++-----
.../association/solver/gnn_solver.hpp | 12 ++++++------
.../association/solver/gnn_solver_interface.hpp | 6 +++---
.../association/solver/mu_ssp.hpp | 8 ++++----
.../association/solver/ssp.hpp | 8 ++++----
.../decorative_tracker_merger_node.hpp | 12 ++++++------
.../tracking_object_merger}/utils/tracker_state.hpp | 6 +++---
.../autoware/tracking_object_merger}/utils/utils.hpp | 6 +++---
.../launch/decorative_tracker_merger.launch.xml | 2 +-
.../package.xml | 2 +-
.../src/association/data_association.cpp | 6 +++---
.../solver/mu_successive_shortest_path_wrapper.cpp | 2 +-
.../association/solver/successive_shortest_path.cpp | 2 +-
.../src/decorative_tracker_merger_node.cpp | 6 +++---
.../src/utils/tracker_state.cpp | 4 ++--
.../src/utils/utils.cpp | 2 +-
26 files changed, 51 insertions(+), 50 deletions(-)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/CMakeLists.txt (95%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/README.md (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/data_association_matrix.param.yaml (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/decorative_tracker_merger.param.yaml (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/decorative_tracker_merger_policy.param.yaml (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/decorative_tracker_merger.drawio.svg (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/time_sync.drawio.svg (100%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/tracklet_management.drawio.svg (100%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/data_association.hpp (86%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/gnn_solver.hpp (59%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/gnn_solver_interface.hpp (79%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/mu_ssp.hpp (78%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/ssp.hpp (79%)
rename perception/{tracking_object_merger/src => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/decorative_tracker_merger_node.hpp (92%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/utils/tracker_state.hpp (96%)
rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/utils/utils.hpp (94%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/launch/decorative_tracker_merger.launch.xml (86%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/package.xml (96%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/data_association.cpp (97%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/solver/mu_successive_shortest_path_wrapper.cpp (95%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/solver/successive_shortest_path.cpp (99%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/decorative_tracker_merger_node.cpp (98%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/utils/tracker_state.cpp (98%)
rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/utils/utils.cpp (99%)
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 47ddd77bdf68e..d43283e54c05e 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -112,6 +112,7 @@ perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.
perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
@@ -137,7 +138,6 @@ perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
-perception/tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp
perception/traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index db2968f735a37..08828a7ddbd00 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -24,6 +24,8 @@
<exec_depend>autoware_radar_object_clustering</exec_depend>
<exec_depend>autoware_radar_object_tracker</exec_depend>
<exec_depend>autoware_raindrop_cluster_filter</exec_depend>
+ <exec_depend>autoware_tracking_object_merger</exec_depend>
+ <exec_depend>cluster_merger</exec_depend>
<exec_depend>compare_map_segmentation</exec_depend>
<exec_depend>detected_object_feature_remover</exec_depend>
<exec_depend>detected_object_validation</exec_depend>
@@ -41,7 +43,6 @@
<exec_depend>probabilistic_occupancy_grid_map</exec_depend>
<exec_depend>shape_estimation</exec_depend>
<exec_depend>topic_tools</exec_depend>
- <exec_depend>tracking_object_merger</exec_depend>
<exec_depend>traffic_light_arbiter</exec_depend>
<exec_depend>traffic_light_classifier</exec_depend>
<exec_depend>traffic_light_fine_detector</exec_depend>
diff --git a/perception/tracking_object_merger/CMakeLists.txt b/perception/autoware_tracking_object_merger/CMakeLists.txt
similarity index 95%
rename from perception/tracking_object_merger/CMakeLists.txt
rename to perception/autoware_tracking_object_merger/CMakeLists.txt
index 7e7c698365922..9b17ee0546879 100644
--- a/perception/tracking_object_merger/CMakeLists.txt
+++ b/perception/autoware_tracking_object_merger/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
-project(tracking_object_merger VERSION 1.0.0)
+project(autoware_tracking_object_merger VERSION 1.0.0)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wconversion)
diff --git a/perception/tracking_object_merger/README.md b/perception/autoware_tracking_object_merger/README.md
similarity index 100%
rename from perception/tracking_object_merger/README.md
rename to perception/autoware_tracking_object_merger/README.md
diff --git a/perception/tracking_object_merger/config/data_association_matrix.param.yaml b/perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml
similarity index 100%
rename from perception/tracking_object_merger/config/data_association_matrix.param.yaml
rename to perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml
diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml
similarity index 100%
rename from perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
rename to perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml
diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml b/perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml
similarity index 100%
rename from perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml
rename to perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml
diff --git a/perception/tracking_object_merger/image/decorative_tracker_merger.drawio.svg b/perception/autoware_tracking_object_merger/image/decorative_tracker_merger.drawio.svg
similarity index 100%
rename from perception/tracking_object_merger/image/decorative_tracker_merger.drawio.svg
rename to perception/autoware_tracking_object_merger/image/decorative_tracker_merger.drawio.svg
diff --git a/perception/tracking_object_merger/image/time_sync.drawio.svg b/perception/autoware_tracking_object_merger/image/time_sync.drawio.svg
similarity index 100%
rename from perception/tracking_object_merger/image/time_sync.drawio.svg
rename to perception/autoware_tracking_object_merger/image/time_sync.drawio.svg
diff --git a/perception/tracking_object_merger/image/tracklet_management.drawio.svg b/perception/autoware_tracking_object_merger/image/tracklet_management.drawio.svg
similarity index 100%
rename from perception/tracking_object_merger/image/tracklet_management.drawio.svg
rename to perception/autoware_tracking_object_merger/image/tracklet_management.drawio.svg
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp
similarity index 86%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp
index a272e42a74e80..af4a65869eca5 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp
@@ -16,13 +16,13 @@
// Author: v1.0 Yukihiro Saito
//
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
#define EIGEN_MPL2_ONLY
-#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp"
-#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
+#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp"
+#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -72,4 +72,4 @@ class DataAssociation
} // namespace autoware::tracking_object_merger
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp
similarity index 59%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp
index 4cea0e3cbe96f..64a18d878f7c3 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
-#include "autoware_tracking_object_merger/association/solver/mu_ssp.hpp"
-#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
+#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp
similarity index 79%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp
index d751075773a09..732ed5cd87041 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
#include <unordered_map>
#include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
};
} // namespace autoware::tracking_object_merger::gnn_solver
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp
similarity index 78%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp
index 47c23bc8eb1b1..b219c1ac441eb 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
-#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
#include <unordered_map>
#include <vector>
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
};
} // namespace autoware::tracking_object_merger::gnn_solver
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp
similarity index 79%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp
index bcfac73f3e43b..03311e4e43694 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
-#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
#include <unordered_map>
#include <vector>
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
};
} // namespace autoware::tracking_object_merger::gnn_solver
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp
similarity index 92%
rename from perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp
index e0ef193b8306b..f091959396574 100644
--- a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp
@@ -12,15 +12,15 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef DECORATIVE_TRACKER_MERGER_NODE_HPP_
-#define DECORATIVE_TRACKER_MERGER_NODE_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_
+#include "autoware/tracking_object_merger/association/data_association.hpp"
+#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
+#include "autoware/tracking_object_merger/utils/utils.hpp"
#include "autoware/universe_utils/ros/debug_publisher.hpp"
#include "autoware/universe_utils/ros/published_time_publisher.hpp"
#include "autoware/universe_utils/system/stop_watch.hpp"
-#include "autoware_tracking_object_merger/association/data_association.hpp"
-#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
-#include "autoware_tracking_object_merger/utils/utils.hpp"
#include <rclcpp/rclcpp.hpp>
@@ -133,4 +133,4 @@ class DecorativeTrackerMergerNode : public rclcpp::Node
} // namespace autoware::tracking_object_merger
-#endif // DECORATIVE_TRACKER_MERGER_NODE_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp
similarity index 96%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp
index ed1f69191b652..5f1ab36f1265e 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -149,4 +149,4 @@ TrackedObjects getTrackedObjectsFromTrackerStates(
std::vector<TrackerState> & tracker_states, const rclcpp::Time & time);
} // namespace autoware::tracking_object_merger
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp
similarity index 94%
rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp
rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp
index eb288c4e853ad..17a385da7cb41 100644
--- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp
+++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp
@@ -14,8 +14,8 @@
//
//
-#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
-#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
+#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
+#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
#include "autoware/universe_utils/geometry/geometry.hpp"
@@ -100,4 +100,4 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su
} // namespace autoware::tracking_object_merger
-#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
+#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
diff --git a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
similarity index 86%
rename from perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
rename to perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
index 2cc2a69e295e6..ff4b883eac3df 100644
--- a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
+++ b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
@@ -7,7 +7,7 @@
<arg name="merge_options_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
<arg name="node_param_file_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
- <node pkg="tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
+ <node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
<remap from="input/main_object" to="$(var input/main_object)"/>
<remap from="input/sub_object" to="$(var input/sub_object)"/>
<remap from="output/object" to="$(var output)"/>
diff --git a/perception/tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml
similarity index 96%
rename from perception/tracking_object_merger/package.xml
rename to perception/autoware_tracking_object_merger/package.xml
index cc23578773fe2..321016ac0ff48 100644
--- a/perception/tracking_object_merger/package.xml
+++ b/perception/autoware_tracking_object_merger/package.xml
@@ -1,7 +1,7 @@
<?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>tracking_object_merger</name>
+ <name>autoware_tracking_object_merger</name>
<version>0.0.0</version>
<description>merge tracking object</description>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/tracking_object_merger/src/association/data_association.cpp b/perception/autoware_tracking_object_merger/src/association/data_association.cpp
similarity index 97%
rename from perception/tracking_object_merger/src/association/data_association.cpp
rename to perception/autoware_tracking_object_merger/src/association/data_association.cpp
index 046fcf5986469..119c95c86daf8 100644
--- a/perception/tracking_object_merger/src/association/data_association.cpp
+++ b/perception/autoware_tracking_object_merger/src/association/data_association.cpp
@@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autoware_tracking_object_merger/association/data_association.hpp"
+#include "autoware/tracking_object_merger/association/data_association.hpp"
+#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp"
+#include "autoware/tracking_object_merger/utils/utils.hpp"
#include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp"
-#include "autoware_tracking_object_merger/utils/utils.hpp"
#include "object_recognition_utils/object_recognition_utils.hpp"
#include <algorithm>
diff --git a/perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp b/perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
similarity index 95%
rename from perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
rename to perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
index d2db6eba068ec..7899d7e1a7898 100644
--- a/perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
+++ b/perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autoware_tracking_object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp"
#include <mussp/mussp.h>
diff --git a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp b/perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp
similarity index 99%
rename from perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp
rename to perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp
index 7d792c157d356..e56901e479eac 100644
--- a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp
+++ b/perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
+#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
#include <algorithm>
#include <cassert>
diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp
similarity index 98%
rename from perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp
rename to perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp
index 6f65941c0a747..187fb6e1d462e 100644
--- a/perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp
+++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp
@@ -14,10 +14,10 @@
#define EIGEN_MPL2_ONLY
-#include "decorative_tracker_merger_node.hpp"
+#include "autoware/tracking_object_merger/decorative_tracker_merger_node.hpp"
-#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
-#include "autoware_tracking_object_merger/utils/utils.hpp"
+#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
+#include "autoware/tracking_object_merger/utils/utils.hpp"
#include "object_recognition_utils/object_recognition_utils.hpp"
#include <Eigen/Core>
diff --git a/perception/tracking_object_merger/src/utils/tracker_state.cpp b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp
similarity index 98%
rename from perception/tracking_object_merger/src/utils/tracker_state.cpp
rename to perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp
index 54b1d73c375a5..eabbd72364129 100644
--- a/perception/tracking_object_merger/src/utils/tracker_state.cpp
+++ b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp
@@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
+#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
-#include "autoware_tracking_object_merger/utils/utils.hpp"
+#include "autoware/tracking_object_merger/utils/utils.hpp"
namespace autoware::tracking_object_merger
{
diff --git a/perception/tracking_object_merger/src/utils/utils.cpp b/perception/autoware_tracking_object_merger/src/utils/utils.cpp
similarity index 99%
rename from perception/tracking_object_merger/src/utils/utils.cpp
rename to perception/autoware_tracking_object_merger/src/utils/utils.cpp
index 1ae705aa38f15..3a24cc0f8321d 100644
--- a/perception/tracking_object_merger/src/utils/utils.cpp
+++ b/perception/autoware_tracking_object_merger/src/utils/utils.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "autoware_tracking_object_merger/utils/utils.hpp"
+#include "autoware/tracking_object_merger/utils/utils.hpp"
#include "autoware_perception_msgs/msg/shape.hpp"
#include "autoware_perception_msgs/msg/tracked_object.hpp"
From 4db3c61777452405962ae84d1d9d7e20687e249a Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri, 19 Jul 2024 10:08:29 +0900
Subject: [PATCH 2/2] refactor: update package paths in launch files
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
.../launch/object_recognition/tracking/tracking.launch.xml | 2 +-
.../launch/decorative_tracker_merger.launch.xml | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 580436411a895..83eeeef42c36f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -55,7 +55,7 @@
</include>
<!-- tracking object merger to merge near objects and far objects -->
- <include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
+ <include file="$(find-pkg-share autoware_tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
<arg name="output" value="$(var tracker_merger/output/objects)"/>
diff --git a/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
index ff4b883eac3df..cd609a0fa612a 100644
--- a/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
+++ b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
@@ -3,9 +3,9 @@
<arg name="input/main_object" default="main_object"/>
<arg name="input/sub_object" default="sub_object"/>
<arg name="output" default="merged_object"/>
- <arg name="data_association_matrix_path" default="$(find-pkg-share tracking_object_merger)/config/data_association_matrix.param.yaml"/>
- <arg name="merge_options_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
- <arg name="node_param_file_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
+ <arg name="data_association_matrix_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/data_association_matrix.param.yaml"/>
+ <arg name="merge_options_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
+ <arg name="node_param_file_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
<node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
<remap from="input/main_object" to="$(var input/main_object)"/>