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feat: apply autoware_ prefix for scenario_simulator_v2_adapter (autowarefoundation#9957)
* feat(autoware_scenario_simulator_v2_adapter): apply `autoware_` prefix (see below): * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. * The changes will follow the Autoware's guideline as below: - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename(scenario_simulator_v2_adapter): move headers under `include/autoware`: * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix(scenario_simulator_v2_adapter): fix include paths * To follow the previous commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename: `scenario_simulator_v2_adapter` => `autoware_scenario_simulator_v2_adapter` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug(autoware_scenario_simulator_v2_adapter): revert wrongly updated copyrights Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug(autoware_scenario_simulator_v2_adapter): `autoware_` prefix is not needed here Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug(autoware_scenario_simulator_v2_adapter): wrong package name in launch side Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
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-27
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‎evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst ‎evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst

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‎evaluator/scenario_simulator_v2_adapter/CMakeLists.txt ‎evaluator/autoware_scenario_simulator_v2_adapter/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version
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project(scenario_simulator_v2_adapter)
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project(autoware_scenario_simulator_v2_adapter)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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ament_auto_find_build_dependencies()
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ament_auto_add_library(${PROJECT_NAME}_node SHARED
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ament_auto_add_library(${PROJECT_NAME} SHARED
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src/converter_node.cpp
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)
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rclcpp_components_register_node(${PROJECT_NAME}_node
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PLUGIN "scenario_simulator_v2_adapter::MetricConverter"
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EXECUTABLE ${PROJECT_NAME}
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "autoware::scenario_simulator_v2_adapter::MetricConverter"
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EXECUTABLE ${PROJECT_NAME}_node
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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ament_add_gtest(test_${PROJECT_NAME}
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ament_add_gtest(test_scenario_simulator_v2_adapter
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test/test_converter_node.cpp
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)
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target_link_libraries(test_${PROJECT_NAME}
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${PROJECT_NAME}_node
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target_link_libraries(test_scenario_simulator_v2_adapter
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${PROJECT_NAME}
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)
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endif()
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‎evaluator/scenario_simulator_v2_adapter/README.md ‎evaluator/autoware_scenario_simulator_v2_adapter/README.md

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‎evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml ‎evaluator/autoware_scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml

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‎evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp ‎evaluator/autoware_scenario_simulator_v2_adapter/include/autoware/scenario_simulator_v2_adapter/converter_node.hpp

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// Copyright 2023 Tier IV, Inc.
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// Copyright 2023 TIER IV, Inc.
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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 SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_
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#define SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_
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#ifndef AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_
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#define AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_
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#include <rclcpp/rclcpp.hpp>
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#include <unordered_map>
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#include <vector>
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namespace scenario_simulator_v2_adapter
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namespace autoware::scenario_simulator_v2_adapter
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{
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using tier4_metric_msgs::msg::Metric;
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using tier4_metric_msgs::msg::MetricArray;
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std::vector<std::unordered_map<std::string, rclcpp::Publisher<UserDefinedValue>::SharedPtr>>
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params_pub_;
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};
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} // namespace scenario_simulator_v2_adapter
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} // namespace autoware::scenario_simulator_v2_adapter
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#endif // SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_
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#endif // AUTOWARE__SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_

‎evaluator/scenario_simulator_v2_adapter/package.xml ‎evaluator/autoware_scenario_simulator_v2_adapter/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>scenario_simulator_v2_adapter</name>
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<name>autoware_scenario_simulator_v2_adapter</name>
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<version>0.40.0</version>
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<description>Node for converting autoware's messages into UserDefinedValue messages</description>
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<maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
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<maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
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<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
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<maintainer email="temkei.kem@tier4.jp">Takamasa Horibe</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>

‎evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json ‎evaluator/autoware_scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json

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‎evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp ‎evaluator/autoware_scenario_simulator_v2_adapter/src/converter_node.cpp

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// Copyright 2023 Tier IV, Inc.
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// Copyright 2023 TIER IV, Inc.
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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 "scenario_simulator_v2_adapter/converter_node.hpp"
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#include "autoware/scenario_simulator_v2_adapter/converter_node.hpp"
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#include <regex>
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#include <string>
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#include <vector>
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namespace
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namespace autoware::scenario_simulator_v2_adapter
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{
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std::string removeInvalidTopicString(const std::string & input_string)
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{
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}
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return result;
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}
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} // namespace
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namespace scenario_simulator_v2_adapter
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{
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MetricConverter::MetricConverter(const rclcpp::NodeOptions & node_options)
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: Node("scenario_simulator_v2_adapter", node_options)
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{
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}
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return pubs.at(topic_name);
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}
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} // namespace scenario_simulator_v2_adapter
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} // namespace autoware::scenario_simulator_v2_adapter
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#include "rclcpp_components/register_node_macro.hpp"
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RCLCPP_COMPONENTS_REGISTER_NODE(scenario_simulator_v2_adapter::MetricConverter)
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RCLCPP_COMPONENTS_REGISTER_NODE(autoware::scenario_simulator_v2_adapter::MetricConverter)

‎evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp ‎evaluator/autoware_scenario_simulator_v2_adapter/test/test_converter_node.cpp

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// Copyright 2023 Tier IV, Inc.
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// Copyright 2023 TIER IV, Inc.
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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 "scenario_simulator_v2_adapter/converter_node.hpp"
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#include "autoware/scenario_simulator_v2_adapter/converter_node.hpp"
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#include <rclcpp/rclcpp.hpp>
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#include <unordered_map>
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#include <vector>
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using ConverterNode = scenario_simulator_v2_adapter::MetricConverter;
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using ConverterNode = autoware::scenario_simulator_v2_adapter::MetricConverter;
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using tier4_metric_msgs::msg::Metric;
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using tier4_metric_msgs::msg::MetricArray;
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using tier4_simulation_msgs::msg::UserDefinedValue;

‎launch/tier4_simulator_launch/launch/simulator.launch.xml

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<!-- Simulator Adapter -->
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<group if="$(var launch_scenario_simulator_v2_adapter)">
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<node name="scenario_simulator_v2_adapter" exec="scenario_simulator_v2_adapter" pkg="scenario_simulator_v2_adapter" output="screen">
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<node exec="autoware_scenario_simulator_v2_adapter_node" pkg="autoware_scenario_simulator_v2_adapter" output="screen">
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<param name="metric_topic_list" value="[/planning/planning_evaluator/metrics, /control/control_evaluator/metrics, /system/processing_time_checker/metrics]"/>
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</node>
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</group>

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