refactor(ndt_scan_matcher)!: prefix package and namespace with autowa…

…re (#8904)

add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

.github/CODEOWNERS

@@ -92,7 +92,7 @@ localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.y
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml

@@ -2,7 +2,7 @@
 <launch>
   <arg name="output_pose_with_covariance_topic" default="/localization/pose_estimator/pose_with_covariance"/>
   <group>
-    <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
+    <include file="$(find-pkg-share autoware_ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
       <arg name="input_pointcloud" value="/localization/util/downsample/pointcloud"/>
       <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
       <arg name="input_regularization_pose_topic" value="/sensing/gnss/pose_with_covariance"/>

launch/tier4_localization_launch/package.xml

@@ -23,14 +23,14 @@
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_lidar_marker_localizer</exec_depend>
+  <exec_depend>autoware_ndt_scan_matcher</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
   <exec_depend>autoware_pose_initializer</exec_depend>
   <exec_depend>autoware_pose_instability_detector</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
-  <exec_depend>ndt_scan_matcher</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>yabloc_common</exec_depend>
   <exec_depend>yabloc_image_processing</exec_depend>

localization/ndt_scan_matcher/CMakeLists.txt → localization/autoware_ndt_scan_matcher/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(ndt_scan_matcher)
+project(autoware_ndt_scan_matcher)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -32,7 +32,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::ndt_scan_matcher::NDTScanMatcher"

localization/ndt_scan_matcher/README.md → localization/autoware_ndt_scan_matcher/README.md

@@ -1,8 +1,8 @@
-# ndt_scan_matcher
+# autoware_ndt_scan_matcher
 
 ## Purpose
 
-ndt_scan_matcher is a package for position estimation using the NDT scan matching method.
+autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.
 
 There are two main functions in this package:
 
@@ -58,31 +58,31 @@ One optional function is regularization. Please see the regularization chapter i
 
 #### Frame
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/frame.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/frame.json") }}
 
 #### Sensor Points
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/sensor_points.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json") }}
 
 #### Ndt
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/ndt.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/ndt.json") }}
 
 #### Initial Pose Estimation
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json") }}
 
 #### Validation
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/validation.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/validation.json") }}
 
 #### Score Estimation
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/score_estimation.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json") }}
 
 #### Covariance
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/covariance.json") }}
 
 ## Regularization
 
@@ -158,7 +158,7 @@ This is because if the base position is far off from the true value, NDT scan ma
 
 ### Parameters
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/ndt_regularization.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/ndt_regularization.json") }}
 
 Regularization is disabled by default because GNSS is not always accurate enough to serve the appropriate base position in any scenes.
 
@@ -208,7 +208,7 @@ Using the feature, `ndt_scan_matcher` can theoretically handle any large size ma
 
 ### Parameters
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/dynamic_map_loading.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/dynamic_map_loading.json") }}
 
 ### Notes for dynamic map loading
 
@@ -235,7 +235,7 @@ This is a function that uses no ground LiDAR scan to estimate the scan matching
 
 ### Parameters
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/score_estimation_no_ground_points.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/score_estimation_no_ground_points.json") }}
 
 ## 2D real-time covariance estimation
 
@@ -262,7 +262,7 @@ initial_pose_offset_model is rotated around (x,y) = (0,0) in the direction of th
 initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
 In MULTI_NDT_SCORE mode, the scale of the output 2D covariance can be adjusted according to the temperature.
 
-{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json") }}
+{{ json_to_markdown("localization/autoware_ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json") }}
 
 ## Diagnostics
 

localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp → localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/hyper_parameters.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
-#define NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
+#ifndef AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
+#define AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -196,4 +196,4 @@ struct HyperParameters
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
+#endif  // AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_

localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp → localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
-#define NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
+#ifndef AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
+#define AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
 
+#include "autoware/ndt_scan_matcher/hyper_parameters.hpp"
+#include "autoware/ndt_scan_matcher/particle.hpp"
 #include "localization_util/diagnostics_module.hpp"
 #include "localization_util/util_func.hpp"
-#include "ndt_scan_matcher/hyper_parameters.hpp"
-#include "ndt_scan_matcher/particle.hpp"
 
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
@@ -100,4 +100,4 @@ class MapUpdateModule
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
+#endif  // AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_

localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp → localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
-#define NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
+#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
+#define AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
 
 #define FMT_HEADER_ONLY
 
+#include "autoware/ndt_scan_matcher/hyper_parameters.hpp"
+#include "autoware/ndt_scan_matcher/map_update_module.hpp"
 #include "localization_util/diagnostics_module.hpp"
 #include "localization_util/smart_pose_buffer.hpp"
-#include "ndt_scan_matcher/hyper_parameters.hpp"
-#include "ndt_scan_matcher/map_update_module.hpp"
 
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -225,4 +225,4 @@ class NDTScanMatcher : public rclcpp::Node
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
+#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_

localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp → localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/particle.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NDT_SCAN_MATCHER__PARTICLE_HPP_
-#define NDT_SCAN_MATCHER__PARTICLE_HPP_
+#ifndef AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_
+#define AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -43,4 +43,4 @@ void push_debug_markers(
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // NDT_SCAN_MATCHER__PARTICLE_HPP_
+#endif  // AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_

localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml → localization/autoware_ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="param_file" default="$(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml"/>
 
   <!-- Topics -->
   <arg name="input_pointcloud" default="points_raw" description="Sensor points topic"/>
@@ -14,7 +14,7 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
-  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher_node" name="$(var node_name)" output="both">
+  <node pkg="autoware_ndt_scan_matcher" exec="autoware_ndt_scan_matcher_node" name="$(var node_name)" output="both">
     <remap from="points_raw" to="$(var input_pointcloud)"/>
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
     <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>

localization/ndt_scan_matcher/package.xml → localization/autoware_ndt_scan_matcher/package.xml

@@ -1,9 +1,9 @@
 <?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>ndt_scan_matcher</name>
+  <name>autoware_ndt_scan_matcher</name>
   <version>0.1.0</version>
-  <description>The ndt_scan_matcher package</description>
+  <description>The autoware_ndt_scan_matcher package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>

localization/ndt_scan_matcher/src/map_update_module.cpp → localization/autoware_ndt_scan_matcher/src/map_update_module.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ndt_scan_matcher/map_update_module.hpp"
+#include "autoware/ndt_scan_matcher/map_update_module.hpp"
 
 namespace autoware::ndt_scan_matcher
 {

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp → localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ndt_scan_matcher/ndt_scan_matcher_core.hpp"
+#include "autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 
+#include "autoware/ndt_scan_matcher/particle.hpp"
 #include "localization_util/matrix_type.hpp"
 #include "localization_util/tree_structured_parzen_estimator.hpp"
 #include "localization_util/util_func.hpp"
-#include "ndt_scan_matcher/particle.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>

localization/ndt_scan_matcher/src/particle.cpp → localization/autoware_ndt_scan_matcher/src/particle.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ndt_scan_matcher/particle.hpp"
+#include "autoware/ndt_scan_matcher/particle.hpp"
 
 #include "localization_util/util_func.hpp"
 namespace autoware::ndt_scan_matcher

localization/ndt_scan_matcher/test/test_fixture.hpp → localization/autoware_ndt_scan_matcher/test/test_fixture.hpp

@@ -15,7 +15,7 @@
 #ifndef TEST_FIXTURE_HPP_
 #define TEST_FIXTURE_HPP_
 
-#include "../include/ndt_scan_matcher/ndt_scan_matcher_core.hpp"
+#include "../include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 #include "stub_initialpose_client.hpp"
 #include "stub_pcd_loader.hpp"
 #include "stub_sensor_pcd_publisher.hpp"
@@ -37,8 +37,9 @@ class TestNDTScanMatcher : public ::testing::Test
 protected:
   void SetUp() override
   {
-    const std::string yaml_path = ament_index_cpp::get_package_share_directory("ndt_scan_matcher") +
-                                  "/config/ndt_scan_matcher.param.yaml";
+    const std::string yaml_path =
+      ament_index_cpp::get_package_share_directory("autoware_ndt_scan_matcher") +
+      "/config/ndt_scan_matcher.param.yaml";
 
     rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator());
     if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) {

localization/ndt_scan_matcher/test/test_ndt_scan_matcher_launch.py → localization/autoware_ndt_scan_matcher/test/test_ndt_scan_matcher_launch.py

@@ -33,7 +33,7 @@
 @pytest.mark.launch_test
 def generate_test_description():
     test_ndt_scan_matcher_launch_file = os.path.join(
-        get_package_share_directory("ndt_scan_matcher"),
+        get_package_share_directory("autoware_ndt_scan_matcher"),
         "launch",
         "ndt_scan_matcher.launch.xml",
     )

localization/autoware_pose_estimator_arbiter/README.md

@@ -32,7 +32,7 @@ Also, even if both can be activated at the same time, the Kalman Filter may be a
 
 ### Supporting pose_estimators
 
-- [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher)
+- [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher)
 - [eagleye](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/localization/eagleye/)
 - [yabloc](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/yabloc)
 - [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_landmark_based_localizer)

map/map_loader/README.md

@@ -25,7 +25,7 @@ You may provide either a single .pcd file or multiple .pcd files. If you are usi
 1. **The pointcloud map should be projected on the same coordinate defined in `map_projection_loader`**, in order to be consistent with the lanelet2 map and other packages that converts between local and geodetic coordinates. For more information, please refer to [the readme of `map_projection_loader`](https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_projection_loader/README.md).
 2. **It must be divided by straight lines parallel to the x-axis and y-axis**. The system does not support division by diagonal lines or curved lines.
 3. **The division size along each axis should be equal.**
-4. **The division size should be about 20m x 20m.** Particularly, care should be taken as using too large division size (for example, more than 100m) may have adverse effects on dynamic map loading features in [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher) and [autoware_compare_map_segmentation](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation).
+4. **The division size should be about 20m x 20m.** Particularly, care should be taken as using too large division size (for example, more than 100m) may have adverse effects on dynamic map loading features in [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher) and [autoware_compare_map_segmentation](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation).
 5. **All the split maps should not overlap with each other.**
 6. **Metadata file should also be provided.** The metadata structure description is provided below.