refactor(ground_segmentation)!: fix namespace and directory structure (autowarefoundation#7744)

* refactor: update namespace in ground_segmentation files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update namespace in ground_segmentation files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update ground_segmentation namespace and file structure

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

* refactor: update ground_segmentation plugin names scheme

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update ransac tester

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: technolojin

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -82,6 +82,12 @@ def create_additional_pipeline(self, lidar_name):
                 "margin_min_z"
             ]
         )
+        # Get the plugin name from the full plugin path
+        ground_segmentation_plugin_name = self.ground_segmentation_param[
+            f"{lidar_name}_ground_filter"
+        ]["plugin"]
+        ground_segmentation_plugin_name = ground_segmentation_plugin_name.split("::")[-1]
+
         components = []
         components.append(
             ComposableNode(
@@ -110,7 +116,7 @@ def create_additional_pipeline(self, lidar_name):
         components.append(
             ComposableNode(
                 package="ground_segmentation",
-                plugin=self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["plugin"],
+                plugin="autoware::ground_segmentation::" + ground_segmentation_plugin_name,
                 name=f"{lidar_name}_ground_filter",
                 remappings=[
                     ("input", f"{lidar_name}/range_cropped/pointcloud"),
@@ -203,7 +209,7 @@ def create_ransac_pipeline(self):
         components.append(
             ComposableNode(
                 package="ground_segmentation",
-                plugin="ground_segmentation::RANSACGroundFilterComponent",
+                plugin="autoware::ground_segmentation::" + "RANSACGroundFilterComponent",
                 name="ransac_ground_filter",
                 namespace="plane_fitting",
                 remappings=[
@@ -228,6 +234,12 @@ def create_common_pipeline(self, input_topic, output_topic):
             self.vehicle_info["min_height_offset"]
             + self.ground_segmentation_param["common_crop_box_filter"]["parameters"]["margin_min_z"]
         )
+        # Get the plugin name from the full plugin path
+        ground_segmentation_plugin_name = self.ground_segmentation_param["common_ground_filter"][
+            "plugin"
+        ]
+        ground_segmentation_plugin_name = ground_segmentation_plugin_name.split("::")[-1]
+
         components = []
         components.append(
             ComposableNode(
@@ -256,7 +268,7 @@ def create_common_pipeline(self, input_topic, output_topic):
         components.append(
             ComposableNode(
                 package="ground_segmentation",
-                plugin=self.ground_segmentation_param["common_ground_filter"]["plugin"],
+                plugin="autoware::ground_segmentation::" + ground_segmentation_plugin_name,
                 name="common_ground_filter",
                 remappings=[
                     ("input", "range_cropped/pointcloud"),

perception/ground_segmentation/CMakeLists.txt

@@ -21,39 +21,39 @@ include_directories(
     ${GRID_MAP_INCLUDE_DIR}
 )
 
-ament_auto_add_library(ground_segmentation SHARED
-  src/ray_ground_filter_nodelet.cpp
-  src/ransac_ground_filter_nodelet.cpp
-  src/scan_ground_filter_nodelet.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/ray_ground_filter/node.cpp
+  src/ransac_ground_filter/node.cpp
+  src/scan_ground_filter/node.cpp
 )
 
-target_link_libraries(ground_segmentation
+target_link_libraries(${PROJECT_NAME}
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
 )
 
 if(OPENMP_FOUND)
-  set_target_properties(ground_segmentation PROPERTIES
+  set_target_properties(${PROJECT_NAME} PROPERTIES
     COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
     LINK_FLAGS ${OpenMP_CXX_FLAGS}
   )
 endif()
 
 # ========== Ground Filter ==========
 # -- Ray Ground Filter --
-rclcpp_components_register_node(ground_segmentation
-  PLUGIN "ground_segmentation::RayGroundFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::ground_segmentation::RayGroundFilterComponent"
   EXECUTABLE ray_ground_filter_node)
 
 # -- RANSAC Ground Filter --
-rclcpp_components_register_node(ground_segmentation
-  PLUGIN "ground_segmentation::RANSACGroundFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::ground_segmentation::RANSACGroundFilterComponent"
   EXECUTABLE ransac_ground_filter_node)
 
 # -- Scan Ground Filter --
-rclcpp_components_register_node(ground_segmentation
-  PLUGIN "ground_segmentation::ScanGroundFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::ground_segmentation::ScanGroundFilterComponent"
   EXECUTABLE scan_ground_filter_node)
 
 
@@ -88,7 +88,7 @@ if(BUILD_TESTING)
   )
 
   target_link_libraries(test_ray_ground_filter
-    ground_segmentation
+    ${PROJECT_NAME}
     ${YAML_CPP_LIBRARIES}
   )
 
@@ -97,7 +97,7 @@ if(BUILD_TESTING)
   )
 
   target_link_libraries(test_scan_ground_filter
-    ground_segmentation
+    ${PROJECT_NAME}
     ${YAML_CPP_LIBRARIES}
   )
   ament_add_ros_isolated_gtest(test_ransac_ground_filter

perception/ground_segmentation/config/ground_segmentation.param.yaml

@@ -16,7 +16,7 @@
         negative: False
 
     common_ground_filter:
-      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      plugin: "autoware::ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode

perception/ground_segmentation/launch/scan_ground_filter.launch.py

@@ -36,7 +36,7 @@ def launch_setup(context, *args, **kwargs):
     nodes = [
         ComposableNode(
             package="ground_segmentation",
-            plugin="ground_segmentation::ScanGroundFilterComponent",
+            plugin="autoware::ground_segmentation::ScanGroundFilterComponent",
             name="scan_ground_filter",
             remappings=[
                 ("input", LaunchConfiguration("input/pointcloud")),

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp perception/ground_segmentation/src/ransac_ground_filter/node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ground_segmentation/ransac_ground_filter_nodelet.hpp"
+#include "node.hpp"
 
 #include <pcl_ros/transforms.hpp>
 
@@ -54,15 +54,6 @@ Eigen::Vector3d getArbitraryOrthogonalVector(const Eigen::Vector3d & input)
   return unit_vec;
 }
 
-ground_segmentation::PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal)
-{
-  ground_segmentation::PlaneBasis basis;
-  basis.e_z = plane_normal;
-  basis.e_x = getArbitraryOrthogonalVector(plane_normal);
-  basis.e_y = basis.e_x.cross(basis.e_z);
-  return basis;
-}
-
 geometry_msgs::msg::Pose getDebugPose(const Eigen::Affine3d & plane_affine)
 {
   geometry_msgs::msg::Pose debug_pose;
@@ -78,8 +69,17 @@ geometry_msgs::msg::Pose getDebugPose(const Eigen::Affine3d & plane_affine)
 }
 }  // namespace
 
-namespace ground_segmentation
+namespace autoware::ground_segmentation
 {
+PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal)
+{
+  PlaneBasis basis;
+  basis.e_z = plane_normal;
+  basis.e_x = getArbitraryOrthogonalVector(plane_normal);
+  basis.e_y = basis.e_x.cross(basis.e_z);
+  return basis;
+}
+
 using pointcloud_preprocessor::get_param;
 
 RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options)
@@ -203,7 +203,7 @@ Eigen::Affine3d RANSACGroundFilterComponent::getPlaneAffine(
   pcl::PointXYZ centroid_point;
   centroid.get(centroid_point);
   Eigen::Translation<double, 3> trans(centroid_point.x, centroid_point.y, centroid_point.z);
-  const ground_segmentation::PlaneBasis basis = getPlaneBasis(plane_normal);
+  const PlaneBasis basis = getPlaneBasis(plane_normal);
   Eigen::Matrix3d rot;
   rot << basis.e_x.x(), basis.e_y.x(), basis.e_z.x(), basis.e_x.y(), basis.e_y.y(), basis.e_z.y(),
     basis.e_x.z(), basis.e_y.z(), basis.e_z.z();
@@ -396,7 +396,7 @@ rcl_interfaces::msg::SetParametersResult RANSACGroundFilterComponent::paramCallb
   return result;
 }
 
-}  // namespace ground_segmentation
+}  // namespace autoware::ground_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ground_segmentation::RANSACGroundFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ground_segmentation::RANSACGroundFilterComponent)

perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp perception/ground_segmentation/src/ransac_ground_filter/node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_
-#define GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_
+#ifndef RANSAC_GROUND_FILTER__NODE_HPP_
+#define RANSAC_GROUND_FILTER__NODE_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
 
@@ -38,7 +38,7 @@
 #include <string>
 #include <vector>
 
-namespace ground_segmentation
+namespace autoware::ground_segmentation
 {
 struct PlaneBasis
 {
@@ -129,6 +129,6 @@ class RANSACGroundFilterComponent : public pointcloud_preprocessor::Filter
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   explicit RANSACGroundFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace ground_segmentation
+}  // namespace autoware::ground_segmentation
 
-#endif  // GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_
+#endif  // RANSAC_GROUND_FILTER__NODE_HPP_

perception/ground_segmentation/include/ground_segmentation/gencolors.hpp perception/ground_segmentation/src/ray_ground_filter/gencolors.hpp

@@ -53,19 +53,18 @@
 //
 //M*/
 
-#ifndef GROUND_SEGMENTATION__GENCOLORS_HPP_
-#define GROUND_SEGMENTATION__GENCOLORS_HPP_
+#ifndef RAY_GROUND_FILTER__GENCOLORS_HPP_
+#define RAY_GROUND_FILTER__GENCOLORS_HPP_
 
 #include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
 
 #include <opencv2/core/core_c.h>
 
 #include <iostream>
 #include <vector>
-//  #include <precomp.hpp>
-#include <opencv2/opencv.hpp>
 
-namespace ray_ground_filter
+namespace autoware::ray_ground_filter
 {
 using namespace cv;  // NOLINT
 
@@ -159,5 +158,5 @@ inline void generateColors(std::vector<Scalar> & colors, size_t count, size_t fa
     colors[i] = Scalar(c.x, c.y, c.z);
   }
 }
-}  // namespace ray_ground_filter
-#endif  // GROUND_SEGMENTATION__GENCOLORS_HPP_
+}  // namespace autoware::ray_ground_filter
+#endif  // RAY_GROUND_FILTER__GENCOLORS_HPP_

perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp perception/ground_segmentation/src/ray_ground_filter/node.cpp

@@ -29,12 +29,12 @@
  *  v1.0: amc-nu (abrahammonrroy@yahoo.com)
  */
 
-#include "ground_segmentation/ray_ground_filter_nodelet.hpp"
+#include "node.hpp"
 
 #include <string>
 #include <vector>
 
-namespace ground_segmentation
+namespace autoware::ground_segmentation
 {
 using pointcloud_preprocessor::get_param;
 
@@ -250,8 +250,9 @@ void RayGroundFilterComponent::ClassifyPointCloud(
 //   // Enable the dynamic reconfigure service
 //   has_service = true;
 //   srv_ = boost::make_shared<
-//     dynamic_reconfigure::Server<ground_segmentation::RayGroundFilterConfig> >(nh);
-//   dynamic_reconfigure::Server<ground_segmentation::RayGroundFilterConfig>::CallbackType f =
+//     dynamic_reconfigure::Server<autoware::ground_segmentation::RayGroundFilterConfig> >(nh);
+//   dynamic_reconfigure::Server<autoware::ground_segmentation::RayGroundFilterConfig>::CallbackType
+//   f =
 //     boost::bind(&RayGroundFilterComponent::config_callback, this, _1, _2);
 //   srv_->setCallback(f);
 //   return (true);
@@ -394,7 +395,7 @@ rcl_interfaces::msg::SetParametersResult RayGroundFilterComponent::paramCallback
   return result;
 }
 
-}  // namespace ground_segmentation
+}  // namespace autoware::ground_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ground_segmentation::RayGroundFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ground_segmentation::RayGroundFilterComponent)

perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp perception/ground_segmentation/src/ray_ground_filter/node.hpp

@@ -42,8 +42,8 @@
  *  v1.0: amc-nu (abrahammonrroy@yahoo.com)
  */
 
-#ifndef GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_
-#define GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_
+#ifndef RAY_GROUND_FILTER__NODE_HPP_
+#define RAY_GROUND_FILTER__NODE_HPP_
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -58,14 +58,7 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #endif
 
-#include <tf2_ros/transform_listener.h>
-
-#include <chrono>
-#include <string>
-#include <vector>
-// #include <pcl_ros/point_cloud.h>
-
-#include "ground_segmentation/gencolors.hpp"
+#include "gencolors.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
 
 #include <opencv2/core.hpp>
@@ -76,11 +69,17 @@
 #include <boost/geometry/geometries/point_xy.hpp>
 #include <boost/optional.hpp>
 
+#include <tf2_ros/transform_listener.h>
+
+#include <chrono>
+#include <string>
+#include <vector>
+
 namespace bg = boost::geometry;
 using Point = bg::model::d2::point_xy<double>;
 using Polygon = bg::model::polygon<Point>;
 
-namespace ground_segmentation
+namespace autoware::ground_segmentation
 {
 class RayGroundFilterComponent : public pointcloud_preprocessor::Filter
 {
@@ -206,6 +205,6 @@ class RayGroundFilterComponent : public pointcloud_preprocessor::Filter
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace ground_segmentation
+}  // namespace autoware::ground_segmentation
 
-#endif  // GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_
+#endif  // RAY_GROUND_FILTER__NODE_HPP_