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fix(autoware_static_centerline_generator): remove prefix from topics and node names (autowarefoundation#7028)
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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+12
-12
lines changed

4 files changed

+12
-12
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planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz

+4-4
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,7 @@ Visualization Manager:
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
133-
Value: /autoware_static_centerline_generator/input_centerline
133+
Value: /static_centerline_generator/input_centerline
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Value: true
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View Drivable Area:
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Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /autoware_static_centerline_generator/output_centerline
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Value: /static_centerline_generator/output_centerline
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Value: true
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View Footprint:
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Alpha: 1
@@ -222,7 +222,7 @@ Visualization Manager:
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /autoware_static_centerline_generator/debug/raw_centerline
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Value: /static_centerline_generator/debug/raw_centerline
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Value: false
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View Drivable Area:
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Alpha: 0.9990000128746033
@@ -268,7 +268,7 @@ Visualization Manager:
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Durability Policy: Transient Local
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /autoware_static_centerline_generator/debug/unsafe_footprints
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Value: /static_centerline_generator/debug/unsafe_footprints
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Value: true
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Enabled: false
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Name: debug

planning/autoware_static_centerline_generator/scripts/app.py

+3-3
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ def get_map():
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map_id = map_uuid
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# create client
54-
cli = create_client(LoadMap, "/planning/autoware_static_centerline_generator/load_map")
54+
cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map")
5555

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# request map loading
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req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
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print("map_id is not correct.")
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# create client
88-
cli = create_client(PlanRoute, "/planning/autoware_static_centerline_generator/plan_route")
88+
cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route")
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# request route planning
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req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
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print("map_id is not correct.")
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# create client
126-
cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path")
126+
cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
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# request path planning
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route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]

planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -155,7 +155,7 @@ def __init__(self):
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transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
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self.sub_whole_centerline = self.create_subscription(
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Trajectory,
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"/autoware_static_centerline_generator/output_whole_centerline",
158+
"/static_centerline_generator/output_whole_centerline",
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self.onWholeCenterline,
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transient_local_qos,
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)

planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -169,7 +169,7 @@ std::vector<TrajectoryPoint> resample_trajectory_points(
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StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode(
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const rclcpp::NodeOptions & node_options)
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: Node("autoware_static_centerline_generator", node_options)
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: Node("static_centerline_generator", node_options)
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{
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// publishers
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pub_map_bin_ =
@@ -217,19 +217,19 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode(
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// services
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callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
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srv_load_map_ = create_service<LoadMap>(
220-
"/planning/autoware_static_centerline_generator/load_map",
220+
"/planning/static_centerline_generator/load_map",
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std::bind(
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&StaticCenterlineGeneratorNode::on_load_map, this, std::placeholders::_1,
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std::placeholders::_2),
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rmw_qos_profile_services_default, callback_group_);
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srv_plan_route_ = create_service<PlanRoute>(
226-
"/planning/autoware_static_centerline_generator/plan_route",
226+
"/planning/static_centerline_generator/plan_route",
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std::bind(
228228
&StaticCenterlineGeneratorNode::on_plan_route, this, std::placeholders::_1,
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std::placeholders::_2),
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rmw_qos_profile_services_default, callback_group_);
231231
srv_plan_path_ = create_service<PlanPath>(
232-
"/planning/autoware_static_centerline_generator/plan_path",
232+
"/planning/static_centerline_generator/plan_path",
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std::bind(
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&StaticCenterlineGeneratorNode::on_plan_path, this, std::placeholders::_1,
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std::placeholders::_2),

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