refactor(autoware_velocity_run_out_module): prefix package with autow…

…are_ and move code to the autoware namespace

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

.github/CODEOWNERS

@@ -170,7 +170,7 @@ planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp s
 planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 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

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -156,7 +156,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
     if="$(var launch_run_out_module)"
   />
   <let

planning/.pages

@@ -30,7 +30,7 @@ nav:
         - 'No Stopping Area': planning/behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_occlusion_spot_module
         - 'Out of Lane': planning/behavior_velocity_out_of_lane_module
-        - 'Run Out': planning/behavior_velocity_run_out_module
+        - 'Run Out': planning/autoware_behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module

planning/autoware_behavior_velocity_planner/README.md

@@ -18,7 +18,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
 - [Occlusion Spot](../behavior_velocity_occlusion_spot_module/README.md)
 - [No Stopping Area](../behavior_velocity_no_stopping_area_module/README.md)
-- [Run Out](../behavior_velocity_run_out_module/README.md)
+- [Run Out](../autoware_behavior_velocity_run_out_module/README.md)
 - [Speed Bump](../behavior_velocity_speed_bump_module/README.md)
 - [Out of Lane](../behavior_velocity_out_of_lane_module/README.md)
 

planning/autoware_behavior_velocity_planner/package.xml

@@ -65,6 +65,7 @@
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_velocity_blind_spot_module</test_depend>
   <test_depend>behavior_velocity_crosswalk_module</test_depend>
@@ -74,7 +75,6 @@
   <test_depend>behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>behavior_velocity_occlusion_spot_module</test_depend>
   <test_depend>behavior_velocity_out_of_lane_module</test_depend>
-  <test_depend>behavior_velocity_run_out_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -54,12 +54,19 @@ std::shared_ptr<BehaviorVelocityPlannerNode> 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<std::string> module_names;
   module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin");
@@ -72,7 +79,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::RunOutModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin");
@@ -89,20 +96,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> 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_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("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("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("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_no_prefix("virtual_traffic_light"),
+                   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

planning/behavior_velocity_run_out_module/CMakeLists.txt → planning/autoware_behavior_velocity_run_out_module/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_run_out_module)
+project(autoware_behavior_velocity_run_out_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

planning/behavior_velocity_run_out_module/package.xml → planning/autoware_behavior_velocity_run_out_module/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>behavior_velocity_run_out_module</name>
+  <name>autoware_behavior_velocity_run_out_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_run_out_module package</description>
+  <description>The autoware_behavior_velocity_run_out_module package</description>
 
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>

planning/autoware_behavior_velocity_run_out_module/plugins.xml

@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_run_out_module">
+  <class type="autoware::behavior_velocity_planner::RunOutModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>

planning/behavior_velocity_run_out_module/src/debug.cpp → planning/autoware_behavior_velocity_run_out_module/src/debug.cpp

@@ -28,7 +28,7 @@ using tier4_autoware_utils::createMarkerOrientation;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -368,4 +368,4 @@ motion_utils::VirtualWalls RunOutModule::createVirtualWalls()
   return debug_ptr_->createVirtualWalls();
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/debug.hpp → planning/autoware_behavior_velocity_run_out_module/src/debug.hpp

@@ -24,8 +24,9 @@
 #include <memory>
 #include <string>
 #include <vector>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::Polygon2d;
 using sensor_msgs::msg::PointCloud2;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Int32Stamped;
@@ -149,6 +150,6 @@ class RunOutDebug
   double height_{0};
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DEBUG_HPP_

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.cpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp

@@ -30,8 +30,10 @@
 #include <limits>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::Point2d;
+using ::behavior_velocity_planner::splineInterpolate;
 namespace
 {
 // create quaternion facing to the nearest trajectory point
@@ -600,4 +602,4 @@ void DynamicObstacleCreatorForPoints::onSynchronizedPointCloud(
   std::lock_guard<std::mutex> lock(mutex_);
   obstacle_points_map_filtered_ = lateral_nearest_points;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.hpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp

@@ -42,19 +42,21 @@
 #include <memory>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::Shape;
 using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using ::behavior_velocity_planner::PlannerData;
 using run_out_utils::DynamicObstacle;
 using run_out_utils::DynamicObstacleData;
 using run_out_utils::DynamicObstacleParam;
 using run_out_utils::PlannerParam;
 using run_out_utils::PredictedPath;
 using PathPointsWithLaneId = std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId>;
+using ::behavior_velocity_planner::Polygons2d;
 
 /**
  * @brief base class for creating dynamic obstacles from multiple types of input
@@ -171,6 +173,6 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator
   pcl::PointCloud<pcl::PointXYZ> obstacle_points_map_filtered_;
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DYNAMIC_OBSTACLE_HPP_

planning/behavior_velocity_run_out_module/src/manager.cpp → planning/autoware_behavior_velocity_run_out_module/src/manager.cpp

@@ -20,10 +20,10 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 using tier4_autoware_utils::getOrDeclareParameter;
-
 RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
@@ -200,8 +200,9 @@ void RunOutModuleManager::setDynamicObstacleCreator(
       break;
   }
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::RunOutModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::RunOutModulePlugin,
+  behavior_velocity_planner::PluginInterface)

planning/behavior_velocity_run_out_module/src/manager.hpp → planning/autoware_behavior_velocity_run_out_module/src/manager.hpp

@@ -23,8 +23,11 @@
 
 #include <memory>
 
-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 RunOutModuleManager : public SceneModuleManagerInterface
 {
 public:
@@ -49,6 +52,6 @@ class RunOutModulePlugin : public PluginWrapper<RunOutModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_

planning/behavior_velocity_run_out_module/src/path_utils.cpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.cpp

@@ -15,7 +15,7 @@
 #include "path_utils.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
-namespace behavior_velocity_planner::run_out_utils
+namespace autoware::behavior_velocity_planner::run_out_utils
 {
 geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
@@ -36,4 +36,4 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   return min_dist_point;
 }
 
-}  // namespace behavior_velocity_planner::run_out_utils
+}  // namespace autoware::behavior_velocity_planner::run_out_utils

planning/behavior_velocity_run_out_module/src/path_utils.hpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.hpp

@@ -25,7 +25,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -36,5 +36,5 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<geometry_msgs::msg::Point> & target_points);
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 #endif  // PATH_UTILS_HPP_

planning/behavior_velocity_run_out_module/src/scene.cpp → planning/autoware_behavior_velocity_run_out_module/src/scene.cpp

@@ -34,10 +34,14 @@
 #include <limits>
 #include <utility>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using ::behavior_velocity_planner::PlanningBehavior;
 using object_recognition_utils::convertLabelToString;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
+using ::behavior_velocity_planner::getCrosswalksOnPath;
+using ::behavior_velocity_planner::Polygon2d;
 
 RunOutModule::RunOutModule(
   const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
@@ -1031,4 +1035,4 @@ bool RunOutModule::isMomentaryDetection()
 
   return elapsed_time_since_detection < planner_param_.ignore_momentary_detection.time_threshold;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/scene.hpp → planning/autoware_behavior_velocity_run_out_module/src/scene.hpp

@@ -30,7 +30,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
@@ -39,6 +39,11 @@ using run_out_utils::PlannerParam;
 using run_out_utils::PoseWithRange;
 using tier4_debug_msgs::msg::Float32Stamped;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::Polygon2d;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 
 class RunOutModule : public SceneModuleInterface
 {
@@ -177,6 +182,6 @@ class RunOutModule : public SceneModuleInterface
 
   bool isMomentaryDetection();
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_

planning/behavior_velocity_run_out_module/src/state_machine.cpp → planning/autoware_behavior_velocity_run_out_module/src/state_machine.cpp

@@ -14,7 +14,7 @@
 
 #include "state_machine.hpp"
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -107,4 +107,4 @@ void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & c
 }
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/state_machine.hpp → planning/autoware_behavior_velocity_run_out_module/src/state_machine.hpp

@@ -19,7 +19,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner::run_out_utils
+namespace autoware::behavior_velocity_planner::run_out_utils
 {
 
 class StateMachine
@@ -53,6 +53,6 @@ class StateMachine
   std::optional<DynamicObstacle> prev_obstacle_{};
   std::optional<DynamicObstacle> target_obstacle_{};
 };
-}  // namespace behavior_velocity_planner::run_out_utils
+}  // namespace autoware::behavior_velocity_planner::run_out_utils
 
 #endif  // STATE_MACHINE_HPP_