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feat: apply autoware_ prefix for learning_based_vehicle_model (autowarefoundation#9991)
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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simulator/learning_based_vehicle_model/CHANGELOG.rst simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package learning_based_vehicle_model
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package autoware_learning_based_vehicle_model
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.40.0 (2024-12-12)
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-------------------

simulator/learning_based_vehicle_model/CMakeLists.txt simulator/autoware_learning_based_vehicle_model/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14.4)
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project(learning_based_vehicle_model)
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project(autoware_learning_based_vehicle_model)
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find_package(autoware_cmake REQUIRED)
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autoware_package()

simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
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#define LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
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#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
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#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
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#include "learning_based_vehicle_model/model_connections_helpers.hpp"
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#include "learning_based_vehicle_model/simple_pymodel.hpp"
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#include "learning_based_vehicle_model/submodel_interface.hpp"
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#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp"
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#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp"
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#include "autoware/learning_based_vehicle_model/submodel_interface.hpp"
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#include <dlfcn.h>
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#include <pybind11/embed.h>
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#include <tuple>
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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namespace py = pybind11;
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class __attribute__((visibility("default"))) InterconnectedModel
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std::vector<double> updatePyModel(std::vector<double> psim_input);
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};
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#endif // LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
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} // namespace autoware::simulator::learning_based_vehicle_model
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#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_

simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
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#define LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
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#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
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#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
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#include <cstring>
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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std::vector<double> fillVectorUsingMap(
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std::vector<double> vector1, std::vector<double> vector2, const std::vector<int> & map,
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bool inverse);
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std::vector<int> createConnectionsMap(
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const std::vector<char *> & connection_names_1, const std::vector<char *> & connection_names_2);
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#endif // LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
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} // namespace autoware::simulator::learning_based_vehicle_model
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#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_

simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// limitations under the License.
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// cspell:ignore pymodel
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#ifndef LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
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#define LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
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#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
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#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
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#include "learning_based_vehicle_model/model_connections_helpers.hpp"
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#include "learning_based_vehicle_model/submodel_interface.hpp"
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#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp"
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#include "autoware/learning_based_vehicle_model/submodel_interface.hpp"
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#include <pybind11/embed.h>
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#include <pybind11/stl.h>
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#include <string>
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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namespace py = pybind11;
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/**
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void mapOutputs(std::vector<char *> signals_vec_names) override;
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};
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#endif // LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
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} // namespace autoware::simulator::learning_based_vehicle_model
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#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_

simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
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#define LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
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#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
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#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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class SubModelInterface
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{
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public:
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std::vector<double> model_signals_vec, std::vector<double> model_signals_vec_next) = 0;
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};
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#endif // LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
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} // namespace autoware::simulator::learning_based_vehicle_model
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#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_

simulator/learning_based_vehicle_model/package.xml simulator/autoware_learning_based_vehicle_model/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>learning_based_vehicle_model</name>
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<name>autoware_learning_based_vehicle_model</name>
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<version>0.40.0</version>
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<description>learning_based_vehicle_model for simple_planning_simulator</description>
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<description>autoware_learning_based_vehicle_model for simple_planning_simulator</description>
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<maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
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<maintainer email="nagy.tomas@tier4.jp">Tomas Nagy</maintainer>
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<maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>

simulator/learning_based_vehicle_model/src/interconnected_model.cpp simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "learning_based_vehicle_model/interconnected_model.hpp"
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#include "autoware/learning_based_vehicle_model/interconnected_model.hpp"
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#include <string>
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#include <tuple>
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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void InterconnectedModel::mapInputs(std::vector<char *> in_names)
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{
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// index in "map_in_to_sig_vec" is index in "in_names" and value in "map_in_to_sig_vec" is index
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return psim_next_state;
141144
}
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} // namespace autoware::simulator::learning_based_vehicle_model

simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "learning_based_vehicle_model/model_connections_helpers.hpp"
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#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp"
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#include <vector>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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std::vector<double> fillVectorUsingMap(
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bool inverse)
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}
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return connection_map;
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}
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} // namespace autoware::simulator::learning_based_vehicle_model

simulator/learning_based_vehicle_model/src/simple_pymodel.cpp simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "learning_based_vehicle_model/simple_pymodel.hpp"
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#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp"
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#include <string>
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namespace autoware::simulator::learning_based_vehicle_model
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{
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namespace py = pybind11;
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SimplePyModel::SimplePyModel(
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// "map_py_model_outputs_to_sig_vec" is index in "signals_vec_names"
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map_py_model_outputs_to_sig_vec = createConnectionsMap(signals_vec_names, py_model_state_names);
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}
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} // namespace autoware::simulator::learning_based_vehicle_model

simulator/learning_based_vehicle_model/src/submodel_interface.cpp simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp

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// Copyright 2024 The Autoware Foundation.
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// Copyright 2025 The Autoware Foundation.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "learning_based_vehicle_model/submodel_interface.hpp"
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#include "autoware/learning_based_vehicle_model/submodel_interface.hpp"

simulator/autoware_simple_planning_simulator/CMakeLists.txt

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find_package(autoware_cmake REQUIRED)
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find_package(Python3 COMPONENTS Interpreter Development)
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find_package(learning_based_vehicle_model REQUIRED)
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find_package(autoware_learning_based_vehicle_model REQUIRED)
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autoware_package()
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# Component
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src/simple_planning_simulator/utils/csv_loader.cpp
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src/simple_planning_simulator/utils/mechanical_controller.cpp
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)
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target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS})
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target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${autoware_learning_based_vehicle_model_INCLUDE_DIRS})
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# Node executable
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator"

simulator/autoware_simple_planning_simulator/README.md

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- `DELAY_STEER_ACC_GEARED`
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- `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD`
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- `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle.
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- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model).
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- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../autoware_learning_based_vehicle_model).
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The following models receive `ACTUATION_CMD` generated from `raw_vehicle_cmd_converter`. Therefore, when these models are selected, the `raw_vehicle_cmd_converter` is also launched.
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simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp

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#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
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#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
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#include "autoware/learning_based_vehicle_model/interconnected_model.hpp"
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#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
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#include "learning_based_vehicle_model/interconnected_model.hpp"
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#include <Eigen/Core>
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#include <Eigen/LU>
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STEER_DES,
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};
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InterconnectedModel vehicle;
80+
autoware::simulator::learning_based_vehicle_model::InterconnectedModel vehicle;
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double prev_vx_ = 0.0;
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double current_ax_ = 0.0;

simulator/autoware_simple_planning_simulator/package.xml

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<depend>autoware_control_msgs</depend>
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<depend>autoware_lanelet2_extension</depend>
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<depend>autoware_learning_based_vehicle_model</depend>
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<depend>autoware_map_msgs</depend>
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<depend>autoware_motion_utils</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_vehicle_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>lanelet2_core</depend>
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<depend>learning_based_vehicle_model</depend>
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<depend>nav_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>

simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp

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#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
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#include "learning_based_vehicle_model/interconnected_model.hpp"
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#include "autoware/learning_based_vehicle_model/interconnected_model.hpp"
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#include <algorithm>
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#include <string>

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