RT1-6682 add prefix package and namespace with autoware_

control/operation_mode_transition_manager/CMakeLists.txt → control/autoware_operation_mode_transition_manager/CMakeLists.txt

@@ -1,21 +1,21 @@
 cmake_minimum_required(VERSION 3.14)
-project(operation_mode_transition_manager)
+project(autoware_operation_mode_transition_manager)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(operation_mode_transition_manager_node SHARED
+ament_auto_add_library(autoware_operation_mode_transition_manager_node SHARED
   src/compatibility.cpp
   src/data.cpp
   src/node.cpp
   src/state.cpp
 )
 
-rclcpp_components_register_node(operation_mode_transition_manager_node
-  PLUGIN "operation_mode_transition_manager::OperationModeTransitionManager"
-  EXECUTABLE operation_mode_transition_manager_exe
+rclcpp_components_register_node(autoware_operation_mode_transition_manager_node
+  PLUGIN "autoware::operation_mode_transition_manager::OperationModeTransitionManager"
+  EXECUTABLE autoware_operation_mode_transition_manager_exe
 )
 
 rosidl_generate_interfaces(
@@ -26,12 +26,12 @@ rosidl_generate_interfaces(
 
 # to use same package defined message
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-    rosidl_target_interfaces(operation_mode_transition_manager_node
+    rosidl_target_interfaces(autoware_operation_mode_transition_manager_node
     ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
             cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-    target_link_libraries(operation_mode_transition_manager_node "${cpp_typesupport_target}")
+    target_link_libraries(autoware_operation_mode_transition_manager_node "${cpp_typesupport_target}")
 endif()
 
 

control/operation_mode_transition_manager/README.md → control/autoware_operation_mode_transition_manager/README.md

@@ -1,4 +1,4 @@
-# operation_mode_transition_manager
+# autoware_operation_mode_transition_manager
 
 ## Purpose / Use cases
 
@@ -25,15 +25,15 @@ There is also an `In Transition` state that occurs during each mode transitions.
 
 ## Design
 
-A rough design of the relationship between `operation_mode_transition_manager`` and the other nodes is shown below.
+A rough design of the relationship between `autoware_operation_mode_transition_manager`` and the other nodes is shown below.
 
 ![transition_rough_structure](image/transition_rough_structure.drawio.svg)
 
 A more detailed structure is below.
 
 ![transition_detailed_structure](image/transition_detailed_structure.drawio.svg)
 
-Here we see that `operation_mode_transition_manager` has multiple state transitions as follows
+Here we see that `autoware_operation_mode_transition_manager` has multiple state transitions as follows
 
 - **AUTOWARE ENABLED <---> DISABLED**
   - **ENABLED**: the vehicle is controlled by Autoware.
@@ -73,7 +73,7 @@ For the backward compatibility (to be removed):
 ### Outputs
 
 - /system/operation_mode/state [`autoware_adapi_v1_msgs/msg/OperationModeState`]: to inform the current operation mode
-- /control/operation_mode_transition_manager/debug_info [`operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug`]: detailed information about the operation mode transition
+- /control/autoware_operation_mode_transition_manager/debug_info [`autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug`]: detailed information about the operation mode transition
 
 - /control/gate_mode_cmd [`tier4_control_msgs/msg/GateMode`]: to change the `vehicle_cmd_gate` state to use its features (to be removed)
 - /autoware/engage [`autoware_vehicle_msgs/msg/Engage`]:
@@ -83,7 +83,7 @@ For the backward compatibility (to be removed):
 
 ## Parameters
 
-{{ json_to_markdown("control/operation_mode_transition_manager/schema/operation_mode_transition_manager.schema.json") }}
+{{ json_to_markdown("control/autoware_operation_mode_transition_manager/schema/operation_mode_transition_manager.schema.json") }}
 
 | Name                               | Type     | Description                                                                                                                                                                                                                                                                                                                                                                                                                   | Default value |
 | :--------------------------------- | :------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |

control/operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml → control/autoware_operation_mode_transition_manager/launch/operation_mode_transition_manager.launch.xml

@@ -1,9 +1,9 @@
 <launch>
-  <arg name="operation_mode_transition_manager_param" default="$(find-pkg-share operation_mode_transition_manager)/config/operation_mode_transition_manager.param.yaml"/>
+  <arg name="operation_mode_transition_manager_param" default="$(find-pkg-share autoware_operation_mode_transition_manager)/config/operation_mode_transition_manager.param.yaml"/>
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <!-- operation_mode_transition_manager -->
-  <node pkg="operation_mode_transition_manager" exec="operation_mode_transition_manager_exe" name="operation_mode_transition_manager" output="screen">
+  <!-- autoware_operation_mode_transition_manager -->
+  <node pkg="autoware_operation_mode_transition_manager" exec="autoware_operation_mode_transition_manager_exe" name="autoware_operation_mode_transition_manager" output="screen">
     <!-- args -->
     <param from="$(var vehicle_info_param_file)"/>
     <param from="$(var operation_mode_transition_manager_param)"/>

control/operation_mode_transition_manager/package.xml → control/autoware_operation_mode_transition_manager/package.xml

@@ -1,5 +1,5 @@
 <package format="3">
-  <name>operation_mode_transition_manager</name>
+  <name>autoware_operation_mode_transition_manager</name>
   <version>0.1.0</version>
   <description>The vehicle_cmd_gate package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>

control/operation_mode_transition_manager/src/compatibility.cpp → control/autoware_operation_mode_transition_manager/src/compatibility.cpp

@@ -16,7 +16,7 @@
 
 #include <memory>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 Compatibility::Compatibility(rclcpp::Node * node) : node_(node)
@@ -140,4 +140,4 @@ void Compatibility::set_mode(const OperationMode mode)
   }
 }
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager

control/operation_mode_transition_manager/src/compatibility.hpp → control/autoware_operation_mode_transition_manager/src/compatibility.hpp

@@ -22,7 +22,7 @@
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_control_msgs/srv/external_command_select.hpp>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 class Compatibility
@@ -54,6 +54,6 @@ class Compatibility
   SelectorModeMsg::ConstSharedPtr selector_mode_;
 };
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager
 
 #endif  // COMPATIBILITY_HPP_

control/operation_mode_transition_manager/src/data.cpp → control/autoware_operation_mode_transition_manager/src/data.cpp

@@ -14,7 +14,7 @@
 
 #include "data.hpp"
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 std::string toString(const std::optional<OperationMode> mode)
@@ -67,4 +67,4 @@ OperationModeValue toMsg(const OperationMode mode)
   return OperationModeState::UNKNOWN;
 }
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager

control/operation_mode_transition_manager/src/data.hpp → control/autoware_operation_mode_transition_manager/src/data.hpp

@@ -27,7 +27,7 @@
 #include <optional>
 #include <string>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 using ServiceResponse = autoware_adapi_v1_msgs::srv::ChangeOperationMode::Response;
@@ -81,6 +81,6 @@ std::string toString(const std::optional<OperationMode> mode);
 std::optional<OperationMode> toEnum(const ChangeOperationMode::Request & request);
 OperationModeValue toMsg(const OperationMode mode);
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager
 
 #endif  // DATA_HPP_

control/operation_mode_transition_manager/src/node.cpp → control/autoware_operation_mode_transition_manager/src/node.cpp

@@ -16,11 +16,11 @@
 
 #include <component_interface_utils/rclcpp/exceptions.hpp>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::NodeOptions & options)
-: Node("operation_mode_transition_manager", options), compatibility_(this)
+: Node("autoware_operation_mode_transition_manager", options), compatibility_(this)
 {
   sub_control_mode_report_ = create_subscription<ControlModeReport>(
     "control_mode_report", 1,
@@ -286,7 +286,8 @@ void OperationModeTransitionManager::publishData()
   pub_debug_info_->publish(debug_info);
 }
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(operation_mode_transition_manager::OperationModeTransitionManager)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::operation_mode_transition_manager::OperationModeTransitionManager)

control/operation_mode_transition_manager/src/node.hpp → control/autoware_operation_mode_transition_manager/src/node.hpp

@@ -26,7 +26,7 @@
 #include <unordered_map>
 #include <utility>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 class OperationModeTransitionManager : public rclcpp::Node
@@ -76,6 +76,6 @@ class OperationModeTransitionManager : public rclcpp::Node
   std::optional<rclcpp::Time> compatibility_transition_;
 };
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager
 
 #endif  // NODE_HPP_

control/operation_mode_transition_manager/src/state.cpp → control/autoware_operation_mode_transition_manager/src/state.cpp

@@ -23,7 +23,7 @@
 #include <algorithm>
 #include <cmath>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 using motion_utils::findNearestIndex;
@@ -316,4 +316,4 @@ bool AutonomousMode::isModeChangeAvailable()
   return is_all_ok;
 }
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager

control/operation_mode_transition_manager/src/state.hpp → control/autoware_operation_mode_transition_manager/src/state.hpp

@@ -15,8 +15,8 @@
 #ifndef STATE_HPP_
 #define STATE_HPP_
 
+#include "autoware_operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
 #include "data.hpp"
-#include "operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
@@ -28,7 +28,7 @@
 #include <memory>
 #include <utility>
 
-namespace operation_mode_transition_manager
+namespace autoware::operation_mode_transition_manager
 {
 
 class ModeChangeBase
@@ -39,7 +39,8 @@ class ModeChangeBase
   virtual bool isModeChangeCompleted() = 0;
   virtual bool isModeChangeAvailable() = 0;
 
-  using DebugInfo = operation_mode_transition_manager::msg::OperationModeTransitionManagerDebug;
+  using DebugInfo =
+    autoware_operation_mode_transition_manager::msg::OperationModeTransitionManagerDebug;
   virtual DebugInfo getDebugInfo() { return DebugInfo{}; }
 };
 
@@ -105,6 +106,6 @@ class RemoteMode : public ModeChangeBase
   bool isModeChangeAvailable() override { return true; }
 };
 
-}  // namespace operation_mode_transition_manager
+}  // namespace autoware::operation_mode_transition_manager
 
 #endif  // STATE_HPP_

control/operation_mode_transition_manager/src/util.hpp → control/autoware_operation_mode_transition_manager/src/util.hpp

@@ -15,9 +15,10 @@
 #ifndef UTIL_HPP_
 #define UTIL_HPP_
 
-#include "operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
+#include "autoware_operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
 
-using DebugInfo = operation_mode_transition_manager::msg::OperationModeTransitionManagerDebug;
+using DebugInfo =
+  autoware_operation_mode_transition_manager::msg::OperationModeTransitionManagerDebug;
 
 void setAllOk(DebugInfo & debug_info)
 {

launch/tier4_control_launch/launch/control.launch.py

@@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs):
     with open(LaunchConfiguration("control_validator_param_path").perform(context), "r") as f:
         control_validator_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(
-        LaunchConfiguration("operation_mode_transition_manager_param_path").perform(context), "r"
+        LaunchConfiguration("operation_mode_transition_manager_param_path").perform(context),
+        "r",
     ) as f:
         operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("shift_decider_param_path").perform(context), "r") as f:
@@ -245,10 +246,10 @@ def launch_setup(context, *args, **kwargs):
     )
 
     # operation mode transition manager
-    operation_mode_transition_manager_component = ComposableNode(
-        package="operation_mode_transition_manager",
-        plugin="operation_mode_transition_manager::OperationModeTransitionManager",
-        name="operation_mode_transition_manager",
+    autoware_operation_mode_transition_manager_component = ComposableNode(
+        package="autoware_operation_mode_transition_manager",
+        plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager",
+        name="autoware_operation_mode_transition_manager",
         remappings=[
             # input
             ("kinematics", "/localization/kinematic_state"),
@@ -341,7 +342,7 @@ def launch_setup(context, *args, **kwargs):
                 lane_departure_component,
                 shift_decider_component,
                 vehicle_cmd_gate_component,
-                operation_mode_transition_manager_component,
+                autoware_operation_mode_transition_manager_component,
                 glog_component,
             ],
         )
@@ -356,7 +357,7 @@ def launch_setup(context, *args, **kwargs):
                 lane_departure_component,
                 shift_decider_component,
                 vehicle_cmd_gate_component,
-                operation_mode_transition_manager_component,
+                autoware_operation_mode_transition_manager_component,
                 glog_component,
             ],
         )