feat(autoware_utils): replace autoware_universe_utils with autoware_u…

…tils (autowarefoundation#10191)

Signed-off-by: liuXinGangChina <lxg19892021@gmail.com>
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 #define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 
-#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+#include <autoware_utils/geometry/pose_deviation.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
 
 namespace autoware::goal_distance_calculator
 {
-using autoware::universe_utils::PoseDeviation;
+using autoware_utils::PoseDeviation;
 
 struct Param
 {

common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"
 
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/ros/polling_subscriber.hpp>
-#include <autoware/universe_utils/ros/self_pose_listener.hpp>
+#include <autoware_utils/ros/debug_publisher.hpp>
+#include <autoware_utils/ros/polling_subscriber.hpp>
+#include <autoware_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
@@ -45,12 +45,12 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
 
 private:
   // Subscriber
-  autoware::universe_utils::SelfPoseListener self_pose_listener_;
-  autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
+  autoware_utils::SelfPoseListener self_pose_listener_;
+  autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
     sub_route_{this, "/planning/mission_planning/route"};
 
   // Publisher
-  autoware::universe_utils::DebugPublisher debug_publisher_;
+  autoware_utils::DebugPublisher debug_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;

common/autoware_goal_distance_calculator/package.xml

@@ -12,7 +12,7 @@
 
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp

@@ -21,7 +21,7 @@ Output GoalDistanceCalculator::update(const Input & input)
   Output output{};
 
   output.goal_deviation =
-    autoware::universe_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
+    autoware_utils::calc_pose_deviation(input.route->goal_pose, input.current_pose->pose);
 
   return output;
 }

common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp"
 
-#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware_utils/math/unit_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
 
@@ -42,7 +42,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
   goal_distance_calculator_->setParam(param_);
 
   // Wait for first self pose
-  self_pose_listener_.waitForFirstPose();
+  self_pose_listener_.wait_for_first_pose();
 
   // Timer
   const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
@@ -54,7 +54,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
 bool GoalDistanceCalculatorNode::tryGetCurrentPose(
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose)
 {
-  auto current_pose_tmp = self_pose_listener_.getCurrentPose();
+  auto current_pose_tmp = self_pose_listener_.get_current_pose();
   if (!current_pose_tmp) return false;
   current_pose = current_pose_tmp;
   return true;
@@ -63,7 +63,7 @@ bool GoalDistanceCalculatorNode::tryGetCurrentPose(
 bool GoalDistanceCalculatorNode::tryGetRoute(
   autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr route)
 {
-  auto route_tmp = sub_route_.takeData();
+  auto route_tmp = sub_route_.take_data();
   if (!route_tmp) return false;
   route = route_tmp;
   return true;
@@ -97,7 +97,7 @@ void GoalDistanceCalculatorNode::onTimer()
   Output output = goal_distance_calculator_->update(input);
 
   {
-    using autoware::universe_utils::rad2deg;
+    using autoware_utils::rad2deg;
     const auto & deviation = output.goal_deviation;
 
     debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(

common/autoware_grid_map_utils/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_cv</depend>
   <depend>libopencv-dev</depend>

common/autoware_grid_map_utils/test/benchmark.cpp

@@ -17,7 +17,7 @@
 #include "grid_map_cv/GridMapCvConverter.hpp"
 #include "grid_map_cv/GridMapCvProcessing.hpp"
 
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
 #include <opencv2/core.hpp>
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
   result_file
     << "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
        "grid_map_constructor grid_map_iteration\n";
-  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware_utils::StopWatch<std::chrono::milliseconds> stopwatch;
 
   constexpr auto nb_iterations = 10;
   constexpr auto polygon_side_vertices =

common/autoware_grid_map_utils/test/test_polygon_iterator.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/grid_map_utils/polygon_iterator.hpp"
 
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 
 // gtest

common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp

@@ -16,8 +16,8 @@
 #define AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
 
 #include "autoware/object_recognition_utils/geometry.hpp"
-#include "autoware/universe_utils/geometry/boost_geometry.hpp"
-#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -28,7 +28,7 @@
 
 namespace autoware::object_recognition_utils
 {
-using autoware::universe_utils::Polygon2d;
+using autoware_utils::Polygon2d;
 // minimum area to avoid division by zero
 static const double MIN_AREA = 1e-6;
 
@@ -37,7 +37,7 @@ inline double getConvexShapeArea(const Polygon2d & source_polygon, const Polygon
   boost::geometry::model::multi_polygon<Polygon2d> union_polygons;
   boost::geometry::union_(source_polygon, target_polygon, union_polygons);
 
-  autoware::universe_utils::Polygon2d hull;
+  autoware_utils::Polygon2d hull;
   boost::geometry::convex_hull(union_polygons, hull);
   return boost::geometry::area(hull);
 }
@@ -67,9 +67,9 @@ inline double getUnionArea(const Polygon2d & source_polygon, const Polygon2d & t
 template <class T1, class T2>
 double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
 {
-  const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_utils::to_polygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_utils::to_polygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -84,9 +84,9 @@ double get2dIoU(const T1 source_object, const T2 target_object, const double min
 template <class T1, class T2>
 double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
 {
-  const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_utils::to_polygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_utils::to_polygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -100,10 +100,10 @@ double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
 template <class T1, class T2>
 double get2dPrecision(const T1 source_object, const T2 target_object)
 {
-  const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_utils::to_polygon2d(source_object);
   const double source_area = boost::geometry::area(source_polygon);
   if (source_area < MIN_AREA) return 0.0;
-  const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_utils::to_polygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -115,9 +115,9 @@ double get2dPrecision(const T1 source_object, const T2 target_object)
 template <class T1, class T2>
 double get2dRecall(const T1 source_object, const T2 target_object)
 {
-  const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_utils::to_polygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_utils::to_polygon2d(target_object);
   const double target_area = boost::geometry::area(target_polygon);
   if (target_area < MIN_AREA) return 0.0;
 

common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 #define AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>

common/autoware_object_recognition_utils/package.xml

@@ -14,7 +14,7 @@
 
   <depend>autoware_interpolation</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
   <depend>pcl_conversions</depend>

common/autoware_object_recognition_utils/src/predicted_path_utils.cpp

@@ -39,7 +39,7 @@ boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
     if (relative_time - epsilon < time_step * path_idx) {
       const double offset = relative_time - time_step * (path_idx - 1);
       const double ratio = std::clamp(offset / time_step, 0.0, 1.0);
-      return autoware::universe_utils::calcInterpolatedPose(prev_pt, pt, ratio, false);
+      return autoware_utils::calc_interpolated_pose(prev_pt, pt, ratio, false);
     }
   }
 
@@ -91,7 +91,7 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath(
 
   // Set Position
   for (size_t i = 0; i < resampled_size; ++i) {
-    const auto p = autoware::universe_utils::createPoint(
+    const auto p = autoware_utils::create_point(
       interpolated_x.at(i), interpolated_y.at(i), interpolated_z.at(i));
     resampled_path.path.at(i).position = p;
     resampled_path.path.at(i).orientation = interpolated_quat.at(i);

common/autoware_object_recognition_utils/test/src/test_conversion.cpp

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/object_recognition_utils/conversion.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 

common/autoware_object_recognition_utils/test/src/test_matching.cpp

@@ -13,14 +13,14 @@
 // limitations under the License.
 
 #include "autoware/object_recognition_utils/matching.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 
 #include <gtest/gtest.h>
 
-using autoware::universe_utils::Point2d;
-using autoware::universe_utils::Point3d;
+using autoware_utils::Point2d;
+using autoware_utils::Point3d;
 
 constexpr double epsilon = 1e-06;
 
@@ -30,7 +30,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 {
   geometry_msgs::msg::Pose p;
   p.position = geometry_msgs::build<geometry_msgs::msg::Point>().x(x).y(y).z(0.0);
-  p.orientation = autoware::universe_utils::createQuaternionFromYaw(yaw);
+  p.orientation = autoware_utils::create_quaternion_from_yaw(yaw);
   return p;
 }
 }  // namespace

common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp

@@ -13,33 +13,33 @@
 // limitations under the License.
 
 #include "autoware/object_recognition_utils/predicted_path_utils.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware/universe_utils/math/unit_conversion.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
+#include "autoware_utils/math/unit_conversion.hpp"
 
 #include <boost/optional/optional_io.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
-using autoware::universe_utils::Point2d;
-using autoware::universe_utils::Point3d;
+using autoware_utils::Point2d;
+using autoware_utils::Point3d;
 
 constexpr double epsilon = 1e-06;
 
 namespace
 {
-using autoware::universe_utils::createPoint;
-using autoware::universe_utils::createQuaternionFromRPY;
-using autoware::universe_utils::transformPoint;
 using autoware_perception_msgs::msg::PredictedPath;
+using autoware_utils::create_point;
+using autoware_utils::create_quaternion_from_rpy;
+using autoware_utils::transform_point;
 
 geometry_msgs::msg::Pose createPose(
   double x, double y, double z, double roll, double pitch, double yaw)
 {
   geometry_msgs::msg::Pose p;
-  p.position = createPoint(x, y, z);
-  p.orientation = createQuaternionFromRPY(roll, pitch, yaw);
+  p.position = create_point(x, y, z);
+  p.orientation = create_quaternion_from_rpy(roll, pitch, yaw);
   return p;
 }
 
@@ -67,15 +67,15 @@ PredictedPath createTestPredictedPath(
 TEST(predicted_path_utils, testCalcInterpolatedPose)
 {
   using autoware::object_recognition_utils::calcInterpolatedPose;
-  using autoware::universe_utils::createQuaternionFromRPY;
-  using autoware::universe_utils::createQuaternionFromYaw;
-  using autoware::universe_utils::deg2rad;
+  using autoware_utils::create_quaternion_from_rpy;
+  using autoware_utils::create_quaternion_from_yaw;
+  using autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(100, 0.1, 1.0);
 
   // Normal Case (same point as the original point)
   {
-    const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
+    const auto ans_quat = create_quaternion_from_rpy(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
     for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) {
       const auto p = calcInterpolatedPose(path, t);
 
@@ -92,7 +92,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
 
   // Normal Case (random case)
   {
-    const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
+    const auto ans_quat = create_quaternion_from_rpy(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
     for (double t = 0.0; t < 9.0; t += 0.3) {
       const auto p = calcInterpolatedPose(path, t);
 
@@ -133,9 +133,9 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
 TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 {
   using autoware::object_recognition_utils::resamplePredictedPath;
-  using autoware::universe_utils::createQuaternionFromRPY;
-  using autoware::universe_utils::createQuaternionFromYaw;
-  using autoware::universe_utils::deg2rad;
+  using autoware_utils::create_quaternion_from_rpy;
+  using autoware_utils::create_quaternion_from_yaw;
+  using autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);
 
@@ -210,9 +210,9 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time)
 {
   using autoware::object_recognition_utils::resamplePredictedPath;
-  using autoware::universe_utils::createQuaternionFromRPY;
-  using autoware::universe_utils::createQuaternionFromYaw;
-  using autoware::universe_utils::deg2rad;
+  using autoware_utils::create_quaternion_from_rpy;
+  using autoware_utils::create_quaternion_from_yaw;
+  using autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);