refactor(start_planner, goal_planner): separate package (autowarefoun…

…dation#5802)

* separate packages

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: karishma <karishma@interpl.ai>

planning/behavior_path_goal_planner_module/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(behavior_path_goal_planner_module)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/default_fixed_goal_planner.cpp
+  src/freespace_pull_over.cpp
+  src/geometric_pull_over.cpp
+  src/goal_searcher.cpp
+  src/shift_pull_over.cpp
+  src/util.cpp
+  src/goal_planner_module.cpp
+  src/manager.cpp
+)
+
+ament_auto_package(INSTALL_TO_SHARE config)

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__DEFAULT_FIXED_GOAL_PLANNER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp"
+#include "behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -42,4 +42,4 @@ class DefaultFixedGoalPlanner : public FixedGoalPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FIXED_GOAL_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FIXED_GOAL_PLANNER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner_common/data_manager.hpp"
 
@@ -50,4 +50,4 @@ class FixedGoalPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FIXED_GOAL_PLANNER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/freespace_pull_over.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/freespace_pull_over.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FREESPACE_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FREESPACE_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp"
+#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
 #include <freespace_planning_algorithms/abstract_algorithm.hpp>
 #include <freespace_planning_algorithms/astar_search.hpp>
@@ -51,4 +51,4 @@ class FreespacePullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FREESPACE_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GEOMETRIC_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GEOMETRIC_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
 
-#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp"
+#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
@@ -69,4 +69,4 @@ class GeometricPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GEOMETRIC_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__GOAL_PLANNER_MODULE_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__GOAL_PLANNER_MODULE_HPP_
-
-#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp"
-#include "behavior_path_planner/utils/goal_planner/freespace_pull_over.hpp"
-#include "behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp"
-#include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
-#include "behavior_path_planner/utils/goal_planner/goal_searcher.hpp"
-#include "behavior_path_planner/utils/goal_planner/shift_pull_over.hpp"
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
+
+#include "behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
+#include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
+#include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
+#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
+#include "behavior_path_goal_planner_module/goal_searcher.hpp"
+#include "behavior_path_goal_planner_module/shift_pull_over.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp"
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
+#include "behavior_path_planner_common/utils/parking_departure/common_module_data.hpp"
+#include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 
@@ -282,6 +282,19 @@ class GoalPlannerModule : public SceneModuleInterface
   bool isExecutionReady() const override;
   void processOnExit() override;
   void updateData() override;
+
+  void updateEgoPredictedPathParams(
+    std::shared_ptr<EgoPredictedPathParams> & ego_predicted_path_params,
+    const std::shared_ptr<GoalPlannerParameters> & goal_planner_params);
+
+  void updateSafetyCheckParams(
+    std::shared_ptr<SafetyCheckParams> & safety_check_params,
+    const std::shared_ptr<GoalPlannerParameters> & goal_planner_params);
+
+  void updateObjectsFilteringParams(
+    std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,
+    const std::shared_ptr<GoalPlannerParameters> & goal_planner_params);
+
   void postProcess() override;
   void setParameters(const std::shared_ptr<GoalPlannerParameters> & parameters);
   void acceptVisitor(
@@ -291,7 +304,7 @@ class GoalPlannerModule : public SceneModuleInterface
   CandidateOutput planCandidate() const override { return CandidateOutput{}; }
 
 private:
-  /*　
+  /*
    * state transitions and plan function used in each state
    *
    * +--------------------------+
@@ -494,4 +507,4 @@ class GoalPlannerModule : public SceneModuleInterface
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__GOAL_PLANNER_MODULE_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_parameters.hpp

@@ -13,10 +13,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
 
-#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <freespace_planning_algorithms/abstract_algorithm.hpp>
@@ -124,4 +124,4 @@ struct GoalPlannerParameters
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp"
+#include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <memory>
@@ -55,4 +55,4 @@ class GoalSearcher : public GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
+#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "behavior_path_planner_common/data_manager.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -69,4 +69,4 @@ class GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_

planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/manager.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/manager.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__MANAGER_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__MANAGER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
 
-#include "behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp"
+#include "behavior_path_goal_planner_module/goal_planner_module.hpp"
 #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -55,4 +55,4 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__GOAL_PLANNER__MANAGER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/pull_over_planner_base.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__PULL_OVER_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__PULL_OVER_PLANNER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
+#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "behavior_path_planner_common/data_manager.hpp"
 #include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 
@@ -135,4 +135,4 @@ class PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__PULL_OVER_PLANNER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/shift_pull_over.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__SHIFT_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__SHIFT_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp"
+#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
@@ -61,4 +61,4 @@ class ShiftPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__SHIFT_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp → planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
+#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
-#include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp"
+#include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
 #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 
@@ -71,4 +71,4 @@ MarkerArray createNumObjectsToAvoidTextsMarkerArray(
 }  // namespace goal_planner_utils
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_

planning/behavior_path_goal_planner_module/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>behavior_path_goal_planner_module</name>
+  <version>0.1.0</version>
+  <description>The behavior_path_goal_planner_module package</description>
+
+  <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
+  <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
+  <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
+
+  <depend>behavior_path_planner</depend>
+  <depend>behavior_path_planner_common</depend>
+  <depend>motion_utils</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rtc_interface</depend>
+  <depend>tier4_autoware_utils</depend>
+  <depend>tier4_planning_msgs</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

planning/behavior_path_goal_planner_module/plugins.xml

@@ -0,0 +1,3 @@
+<library path="behavior_path_goal_planner_module">
+  <class type="behavior_path_planner::GoalPlannerModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>

planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp → planning/behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp"
+#include "behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
 
-#include "behavior_path_planner/utils/goal_planner/util.hpp"
+#include "behavior_path_goal_planner_module/util.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 

planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp → planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/utils/goal_planner/freespace_pull_over.hpp"
+#include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
 
-#include "behavior_path_planner/utils/goal_planner/util.hpp"
-#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
+#include "behavior_path_goal_planner_module/util.hpp"
+#include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 
 #include <memory>
@@ -116,7 +116,7 @@ std::optional<PullOverPath> FreespacePullOver::plan(const Pose & goal_pose)
 
   std::vector<std::pair<double, double>> pairs_terminal_velocity_and_accel{};
   pairs_terminal_velocity_and_accel.resize(partial_paths.size());
-  utils::start_goal_planner_common::modifyVelocityByDirection(
+  utils::parking_departure::modifyVelocityByDirection(
     partial_paths, pairs_terminal_velocity_and_accel, velocity_, 0);
 
   // Check if driving forward for each path, return empty if not

planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp → planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp"
+#include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
 
-#include "behavior_path_planner/utils/goal_planner/util.hpp"
+#include "behavior_path_goal_planner_module/util.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>