refactor(pid_longitudinal_controller)!: prefix package and namespace …

…with autoware (#7383) * add prefix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix trajectory follower node param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Jun 8, 2024 · a082e64 · a082e64
1 parent a6ef8bb
commit a082e64
Show file tree

Hide file tree

Showing 26 changed files with 43 additions and 44 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -53,7 +53,7 @@ control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kuri
 control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
-control/pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/predicted_path_checker/** berkay@leodrive.ai
 control/pure_pursuit/** takamasa.horibe@tier4.jp
 control/shift_decider/** takamasa.horibe@tier4.jp

diff --git a/...id_longitudinal_controller/CMakeLists.txt → ...id_longitudinal_controller/CMakeLists.txt b/...id_longitudinal_controller/CMakeLists.txt → ...id_longitudinal_controller/CMakeLists.txt
@@ -1,15 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(pid_longitudinal_controller)
+project(autoware_pid_longitudinal_controller)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 set(PID_LON_CON_LIB ${PROJECT_NAME}_lib)
 ament_auto_add_library(${PID_LON_CON_LIB} SHARED
-  src/pid_longitudinal_controller.cpp
-  src/pid.cpp
-  src/smooth_stop.cpp
-  src/longitudinal_controller_utils.cpp
+  DIRECTORY src
 )
 
 if(BUILD_TESTING)

diff --git a/...rol/pid_longitudinal_controller/README.md → ...are_pid_longitudinal_controller/README.md b/...rol/pid_longitudinal_controller/README.md → ...are_pid_longitudinal_controller/README.md
diff --git a/..._longitudinal_controller/debug_values.hpp → ..._longitudinal_controller/debug_values.hpp b/..._longitudinal_controller/debug_values.hpp → ..._longitudinal_controller/debug_values.hpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
 
 #include <array>
+#include <cstddef>
 
 namespace autoware::motion::control::pid_longitudinal_controller
 {
@@ -92,4 +93,4 @@ class DebugValues
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 
-#endif  // PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_
diff --git a/...troller/longitudinal_controller_utils.hpp → ...troller/longitudinal_controller_utils.hpp b/...troller/longitudinal_controller_utils.hpp → ...troller/longitudinal_controller_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
 
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spherical_linear_interpolation.hpp"
@@ -155,4 +155,4 @@ geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
 }  // namespace longitudinal_utils
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 
-#endif  // PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
diff --git a/...ongitudinal_controller/lowpass_filter.hpp → ...ongitudinal_controller/lowpass_filter.hpp b/...ongitudinal_controller/lowpass_filter.hpp → ...ongitudinal_controller/lowpass_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
 
 #include <algorithm>
 #include <cmath>
@@ -63,4 +63,4 @@ class LowpassFilter1d
   }
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
-#endif  // PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_
diff --git a/...clude/pid_longitudinal_controller/pid.hpp → ...oware_pid_longitudinal_controller/pid.hpp b/...clude/pid_longitudinal_controller/pid.hpp → ...oware_pid_longitudinal_controller/pid.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__PID_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
 
 #include <vector>
 
@@ -91,4 +91,4 @@ class PIDController
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 
-#endif  // PID_LONGITUDINAL_CONTROLLER__PID_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_
diff --git a/...ontroller/pid_longitudinal_controller.hpp → ...ontroller/pid_longitudinal_controller.hpp b/...ontroller/pid_longitudinal_controller.hpp → ...ontroller/pid_longitudinal_controller.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
-
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+
+#include "autoware_pid_longitudinal_controller/debug_values.hpp"
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
+#include "autoware_pid_longitudinal_controller/lowpass_filter.hpp"
+#include "autoware_pid_longitudinal_controller/pid.hpp"
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
-#include "pid_longitudinal_controller/debug_values.hpp"
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
-#include "pid_longitudinal_controller/lowpass_filter.hpp"
-#include "pid_longitudinal_controller/pid.hpp"
-#include "pid_longitudinal_controller/smooth_stop.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/buffer.h"
@@ -408,4 +408,4 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 
-#endif  // PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_
diff --git a/...d_longitudinal_controller/smooth_stop.hpp → ...d_longitudinal_controller/smooth_stop.hpp b/...d_longitudinal_controller/smooth_stop.hpp → ...d_longitudinal_controller/smooth_stop.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
-#define PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -112,4 +112,4 @@ class SmoothStop
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 
-#endif  // PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
+#endif  // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_
diff --git a/..._controller/media/BrakeKeeping.drawio.svg → ..._controller/media/BrakeKeeping.drawio.svg b/..._controller/media/BrakeKeeping.drawio.svg → ..._controller/media/BrakeKeeping.drawio.svg
diff --git a/.../LongitudinalControllerDiagram.drawio.svg → .../LongitudinalControllerDiagram.drawio.svg b/.../LongitudinalControllerDiagram.drawio.svg → .../LongitudinalControllerDiagram.drawio.svg
diff --git a/...dinalControllerStateTransition.drawio.svg → ...dinalControllerStateTransition.drawio.svg b/...dinalControllerStateTransition.drawio.svg → ...dinalControllerStateTransition.drawio.svg
diff --git a/...troller/media/slope_definition.drawio.svg → ...troller/media/slope_definition.drawio.svg b/...troller/media/slope_definition.drawio.svg → ...troller/media/slope_definition.drawio.svg
diff --git a/...l/pid_longitudinal_controller/package.xml → ...e_pid_longitudinal_controller/package.xml b/...l/pid_longitudinal_controller/package.xml → ...e_pid_longitudinal_controller/package.xml
@@ -1,7 +1,7 @@
 <?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>pid_longitudinal_controller</name>
+  <name>autoware_pid_longitudinal_controller</name>
   <version>1.0.0</version>
   <description>PID-based longitudinal controller</description>
 

diff --git a/...ngitudinal_controller_defaults.param.yaml → ...ngitudinal_controller_defaults.param.yaml b/...ngitudinal_controller_defaults.param.yaml → ...ngitudinal_controller_defaults.param.yaml
diff --git a/...ler/src/longitudinal_controller_utils.cpp → ...ler/src/longitudinal_controller_utils.cpp b/...ler/src/longitudinal_controller_utils.cpp → ...ler/src/longitudinal_controller_utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
 
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2/LinearMath/Quaternion.h"

diff --git a/...l/pid_longitudinal_controller/src/pid.cpp → ...e_pid_longitudinal_controller/src/pid.cpp b/...l/pid_longitudinal_controller/src/pid.cpp → ...e_pid_longitudinal_controller/src/pid.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pid_longitudinal_controller/pid.hpp"
+#include "autoware_pid_longitudinal_controller/pid.hpp"
 
 #include <algorithm>
 #include <memory>

diff --git a/...oller/src/pid_longitudinal_controller.cpp → ...oller/src/pid_longitudinal_controller.cpp b/...oller/src/pid_longitudinal_controller.cpp → ...oller/src/pid_longitudinal_controller.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pid_longitudinal_controller/pid_longitudinal_controller.hpp"
+#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -1148,7 +1148,7 @@ void PidLongitudinalController::updateDebugVelAcc(const ControlData & control_da
 
 void PidLongitudinalController::setupDiagnosticUpdater()
 {
-  diagnostic_updater_.setHardwareID("pid_longitudinal_controller");
+  diagnostic_updater_.setHardwareID("autoware_pid_longitudinal_controller");
   diagnostic_updater_.add("control_state", this, &PidLongitudinalController::checkControlState);
 }
 

diff --git a/...ngitudinal_controller/src/smooth_stop.cpp → ...ngitudinal_controller/src/smooth_stop.cpp b/...ngitudinal_controller/src/smooth_stop.cpp → ...ngitudinal_controller/src/smooth_stop.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pid_longitudinal_controller/smooth_stop.hpp"
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
 
 #include <experimental/optional>  // NOLINT
 

diff --git a/...st/test_longitudinal_controller_utils.cpp → ...st/test_longitudinal_controller_utils.cpp b/...st/test_longitudinal_controller_utils.cpp → ...st/test_longitudinal_controller_utils.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp"
 #include "gtest/gtest.h"
 #include "interpolation/spherical_linear_interpolation.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
-#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"

diff --git a/...longitudinal_controller/test/test_pid.cpp → ...longitudinal_controller/test/test_pid.cpp b/...longitudinal_controller/test/test_pid.cpp → ...longitudinal_controller/test/test_pid.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware_pid_longitudinal_controller/pid.hpp"
 #include "gtest/gtest.h"
-#include "pid_longitudinal_controller/pid.hpp"
 
 #include <vector>
 

diff --git a/...inal_controller/test/test_smooth_stop.cpp → ...inal_controller/test/test_smooth_stop.cpp b/...inal_controller/test/test_smooth_stop.cpp → ...inal_controller/test/test_smooth_stop.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
 #include "gtest/gtest.h"
-#include "pid_longitudinal_controller/smooth_stop.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include <utility>

diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml
@@ -22,10 +22,10 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_mpc_lateral_controller</depend>
+  <depend>autoware_pid_longitudinal_controller</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>motion_utils</depend>
-  <depend>pid_longitudinal_controller</depend>
   <depend>pure_pursuit</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/control/trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/trajectory_follower_node/param/longitudinal/pid.param.yaml
@@ -69,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1
diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp
@@ -15,7 +15,7 @@
 #include "trajectory_follower_node/controller_node.hpp"
 
 #include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp"
-#include "pid_longitudinal_controller/pid_longitudinal_controller.hpp"
+#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp"
 #include "pure_pursuit/pure_pursuit_lateral_controller.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 

diff --git a/control/trajectory_follower_node/test/test_controller_node.cpp b/control/trajectory_follower_node/test/test_controller_node.cpp
@@ -51,7 +51,7 @@ rclcpp::NodeOptions makeNodeOptions(const bool enable_keep_stopped_until_steer_c
   // Pass default parameter file to the node
   const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_node");
   const auto longitudinal_share_dir =
-    ament_index_cpp::get_package_share_directory("pid_longitudinal_controller");
+    ament_index_cpp::get_package_share_directory("autoware_pid_longitudinal_controller");
   const auto lateral_share_dir =
     ament_index_cpp::get_package_share_directory("autoware_mpc_lateral_controller");
   rclcpp::NodeOptions node_options;