diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dd73e823b6c05..451ade3771f61 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -147,6 +147,7 @@ perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp +planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @@ -174,7 +175,6 @@ planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kur planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 29fe7f7071126..154a3019f1c17 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -136,7 +136,7 @@ /> ament_cmake_ros ament_lint_auto + autoware_behavior_velocity_virtual_traffic_light_module autoware_lint_common behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module @@ -78,7 +79,6 @@ behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_traffic_light_module - behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index 3f60c904d6eb4..7cbe0f65a1fc2 100644 --- a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -54,12 +54,19 @@ std::shared_ptr generateNode() const auto velocity_smoother_dir = ament_index_cpp::get_package_share_directory("autoware_velocity_smoother"); - const auto get_behavior_velocity_module_config = [](const std::string & module) { + // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_* + const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) { const auto package_name = "behavior_velocity_" + module + "_module"; const auto package_path = ament_index_cpp::get_package_share_directory(package_name); return package_path + "/config/" + module + ".param.yaml"; }; + const auto get_behavior_velocity_module_config = [](const std::string & module) { + const auto package_name = "autoware_behavior_velocity_" + module + "_module"; + const auto package_path = ament_index_cpp::get_package_share_directory(package_name); + return package_path + "/config/" + module + ".param.yaml"; + }; + std::vector module_names; module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin"); module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin"); @@ -68,7 +75,7 @@ std::shared_ptr generateNode() module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin"); module_names.emplace_back("behavior_velocity_planner::BlindSpotModulePlugin"); module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin"); - module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin"); + module_names.emplace_back("autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin"); module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin"); module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin"); module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin"); @@ -89,20 +96,20 @@ std::shared_ptr generateNode() velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml", velocity_smoother_dir + "/config/Analytical.param.yaml", behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml", - get_behavior_velocity_module_config("blind_spot"), - get_behavior_velocity_module_config("crosswalk"), - get_behavior_velocity_module_config("walkway"), - get_behavior_velocity_module_config("detection_area"), - get_behavior_velocity_module_config("intersection"), - get_behavior_velocity_module_config("no_stopping_area"), - get_behavior_velocity_module_config("occlusion_spot"), - get_behavior_velocity_module_config("run_out"), - get_behavior_velocity_module_config("speed_bump"), - get_behavior_velocity_module_config("stop_line"), - get_behavior_velocity_module_config("traffic_light"), + get_behavior_velocity_module_config_no_prefix("blind_spot"), + get_behavior_velocity_module_config_no_prefix("crosswalk"), + get_behavior_velocity_module_config_no_prefix("walkway"), + get_behavior_velocity_module_config_no_prefix("detection_area"), + get_behavior_velocity_module_config_no_prefix("intersection"), + get_behavior_velocity_module_config_no_prefix("no_stopping_area"), + get_behavior_velocity_module_config_no_prefix("occlusion_spot"), + get_behavior_velocity_module_config_no_prefix("run_out"), + get_behavior_velocity_module_config_no_prefix("speed_bump"), + get_behavior_velocity_module_config_no_prefix("stop_line"), + get_behavior_velocity_module_config_no_prefix("traffic_light"), get_behavior_velocity_module_config("virtual_traffic_light"), - get_behavior_velocity_module_config("out_of_lane"), - get_behavior_velocity_module_config("no_drivable_lane")}); + get_behavior_velocity_module_config_no_prefix("out_of_lane"), + get_behavior_velocity_module_config_no_prefix("no_drivable_lane")}); // TODO(Takagi, Isamu): set launch_modules // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light diff --git a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt similarity index 83% rename from planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt index a1c00cf49db29..9d1fe762262dd 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_velocity_virtual_traffic_light_module) +project(autoware_behavior_velocity_virtual_traffic_light_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_velocity_virtual_traffic_light_module/README.md b/planning/autoware_behavior_velocity_virtual_traffic_light_module/README.md similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/README.md rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/README.md diff --git a/planning/behavior_velocity_virtual_traffic_light_module/config/virtual_traffic_light.param.yaml b/planning/autoware_behavior_velocity_virtual_traffic_light_module/config/virtual_traffic_light.param.yaml similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/config/virtual_traffic_light.param.yaml rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/config/virtual_traffic_light.param.yaml diff --git a/planning/behavior_velocity_virtual_traffic_light_module/docs/V2X_support_traffic_light.png b/planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/V2X_support_traffic_light.png similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/docs/V2X_support_traffic_light.png rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/V2X_support_traffic_light.png diff --git a/planning/behavior_velocity_virtual_traffic_light_module/docs/intersection-coordination.png b/planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/intersection-coordination.png similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/docs/intersection-coordination.png rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/intersection-coordination.png diff --git a/planning/behavior_velocity_virtual_traffic_light_module/docs/keep_stopping.svg b/planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/keep_stopping.svg similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/docs/keep_stopping.svg rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/keep_stopping.svg diff --git a/planning/behavior_velocity_virtual_traffic_light_module/docs/restart.svg b/planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/restart.svg similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/docs/restart.svg rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/restart.svg diff --git a/planning/behavior_velocity_virtual_traffic_light_module/docs/restart_prevention.svg b/planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/restart_prevention.svg similarity index 100% rename from planning/behavior_velocity_virtual_traffic_light_module/docs/restart_prevention.svg rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/docs/restart_prevention.svg diff --git a/planning/behavior_velocity_virtual_traffic_light_module/package.xml b/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml similarity index 89% rename from planning/behavior_velocity_virtual_traffic_light_module/package.xml rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 2cf3847c66935..cd35d4308c26a 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -1,9 +1,9 @@ - behavior_velocity_virtual_traffic_light_module + autoware_behavior_velocity_virtual_traffic_light_module 0.1.0 - The behavior_velocity_virtual_traffic_light_module package + The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi Tomoya Kimura diff --git a/planning/autoware_behavior_velocity_virtual_traffic_light_module/plugins.xml b/planning/autoware_behavior_velocity_virtual_traffic_light_module/plugins.xml new file mode 100644 index 0000000000000..2402fc13469b9 --- /dev/null +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp similarity index 98% rename from planning/behavior_velocity_virtual_traffic_light_module/src/debug.cpp rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp index 83b5e6317aeb0..2f389d5d1104f 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/src/debug.cpp +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp @@ -28,7 +28,7 @@ using tier4_autoware_utils::createMarkerScale; using tier4_autoware_utils::toMsg; using namespace std::literals::string_literals; -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { namespace { @@ -147,4 +147,4 @@ visualization_msgs::msg::MarkerArray VirtualTrafficLightModule::createDebugMarke return debug_marker_array; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_virtual_traffic_light_module/src/manager.cpp b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp similarity index 92% rename from planning/behavior_velocity_virtual_traffic_light_module/src/manager.cpp rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp index cd8047cff24e0..5a32cfd2f74f0 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/src/manager.cpp +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp @@ -24,10 +24,11 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { using lanelet::autoware::VirtualTrafficLight; using tier4_autoware_utils::getOrDeclareParameter; +namespace planning_utils = ::behavior_velocity_planner::planning_utils; VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node & node) : SceneModuleManagerInterface(node, getModuleName()) @@ -76,9 +77,9 @@ VirtualTrafficLightModuleManager::getModuleExpiredFunction( return id_set.count(scene_module->getModuleId()) == 0; }; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #include PLUGINLIB_EXPORT_CLASS( - behavior_velocity_planner::VirtualTrafficLightModulePlugin, + autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin, behavior_velocity_planner::PluginInterface) diff --git a/planning/behavior_velocity_virtual_traffic_light_module/src/manager.hpp b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.hpp similarity index 86% rename from planning/behavior_velocity_virtual_traffic_light_module/src/manager.hpp rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.hpp index fa41e50d96e3f..c73bb0d706008 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/src/manager.hpp +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.hpp @@ -27,8 +27,11 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { +using ::behavior_velocity_planner::PluginWrapper; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::SceneModuleManagerInterface; class VirtualTrafficLightModuleManager : public SceneModuleManagerInterface { public: @@ -48,6 +51,6 @@ class VirtualTrafficLightModulePlugin : public PluginWrapper #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { +using ::behavior_velocity_planner::PlanningBehavior; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::VelocityFactor; +namespace arc_lane_utils = ::behavior_velocity_planner::arc_lane_utils; +namespace planning_utils = ::behavior_velocity_planner::planning_utils; namespace { using tier4_autoware_utils::calcDistance2d; @@ -618,4 +623,4 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( module_data_.stop_head_pose_at_end_line = calcHeadPose(stop_pose, planner_data_->vehicle_info_.max_longitudinal_offset_m); } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_virtual_traffic_light_module/src/scene.hpp b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp similarity index 93% rename from planning/behavior_velocity_virtual_traffic_light_module/src/scene.hpp rename to planning/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp index 7715bb127962f..c83ff4e0607ef 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/src/scene.hpp +++ b/planning/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp @@ -30,8 +30,12 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { +using ::behavior_velocity_planner::PathWithLaneId; +using ::behavior_velocity_planner::Pose; +using ::behavior_velocity_planner::SceneModuleInterface; +using ::behavior_velocity_planner::StopReason; class VirtualTrafficLightModule : public SceneModuleInterface { public: @@ -126,5 +130,5 @@ class VirtualTrafficLightModule : public SceneModuleInterface tier4_planning_msgs::msg::PathWithLaneId * path, tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx); }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // SCENE_HPP_ diff --git a/planning/behavior_velocity_virtual_traffic_light_module/plugins.xml b/planning/behavior_velocity_virtual_traffic_light_module/plugins.xml deleted file mode 100644 index 943ef175aa8f8..0000000000000 --- a/planning/behavior_velocity_virtual_traffic_light_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - -