chore(vehicle_cmd_gate): add prefix autoware_ to vehicle_cmd_gate (#7327

)

* add prefix autoware_ to vehicle_cmd_gate package

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix include guard

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix pre-commit

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

---------

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

.github/CODEOWNERS

@@ -60,7 +60,7 @@ control/shift_decider/** takamasa.horibe@tier4.jp
 control/autoware_smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
 control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 evaluator/control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp
 evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp
 evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp

control/vehicle_cmd_gate/CMakeLists.txt → control/autoware_vehicle_cmd_gate/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(vehicle_cmd_gate)
+project(autoware_vehicle_cmd_gate)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,7 +12,7 @@ ament_auto_add_library(vehicle_cmd_gate_node SHARED
 )
 
 rclcpp_components_register_node(vehicle_cmd_gate_node
-  PLUGIN "vehicle_cmd_gate::VehicleCmdGate"
+  PLUGIN "autoware::vehicle_cmd_gate::VehicleCmdGate"
   EXECUTABLE vehicle_cmd_gate_exe
 )
 

control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml → control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml

@@ -1,11 +1,11 @@
 <launch>
-  <arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
   <arg name="check_external_emergency_heartbeat" default="true"/>
 
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <node pkg="vehicle_cmd_gate" exec="vehicle_cmd_gate_exe" name="vehicle_cmd_gate" output="screen">
+  <node pkg="autoware_vehicle_cmd_gate" exec="vehicle_cmd_gate_exe" name="vehicle_cmd_gate" output="screen">
     <remap from="input/steering" to="/vehicle/status/steering_status"/>
 
     <remap from="input/auto/control_cmd" to="trajectory_follower/control_cmd"/>

control/vehicle_cmd_gate/package.xml → control/autoware_vehicle_cmd_gate/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>vehicle_cmd_gate</name>
+  <name>autoware_vehicle_cmd_gate</name>
   <version>0.1.0</version>
   <description>The vehicle_cmd_gate package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>

control/vehicle_cmd_gate/src/adapi_pause_interface.cpp → control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp

@@ -14,7 +14,7 @@
 
 #include "adapi_pause_interface.hpp"
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 AdapiPauseInterface::AdapiPauseInterface(rclcpp::Node * node) : node_(node)
@@ -65,4 +65,4 @@ void AdapiPauseInterface::on_pause(
   res->status.success = true;
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate

control/vehicle_cmd_gate/src/adapi_pause_interface.hpp → control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp

@@ -21,7 +21,7 @@
 
 #include <autoware_control_msgs/msg/control.hpp>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 class AdapiPauseInterface
@@ -55,6 +55,6 @@ class AdapiPauseInterface
     const SetPause::Service::Response::SharedPtr res);
 };
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // ADAPI_PAUSE_INTERFACE_HPP_

control/vehicle_cmd_gate/src/marker_helper.hpp → control/autoware_vehicle_cmd_gate/src/marker_helper.hpp

@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z)
 {
@@ -114,6 +114,6 @@ inline void appendMarkerArray(
     marker_array->markers.push_back(marker);
   }
 }
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // MARKER_HELPER_HPP_

control/vehicle_cmd_gate/src/moderate_stop_interface.cpp → control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp

@@ -14,7 +14,7 @@
 
 #include "moderate_stop_interface.hpp"
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 ModerateStopInterface::ModerateStopInterface(rclcpp::Node * node) : node_(node)
@@ -66,4 +66,4 @@ void ModerateStopInterface::update_stop_state()
   }
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate

control/vehicle_cmd_gate/src/moderate_stop_interface.hpp → control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp

@@ -22,7 +22,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 class ModerateStopInterface
@@ -53,6 +53,6 @@ class ModerateStopInterface
   void update_stop_state();
 };
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // MODERATE_STOP_INTERFACE_HPP_

control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp → control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp

@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <cmath>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 VehicleCmdFilter::VehicleCmdFilter()
@@ -319,4 +319,4 @@ double VehicleCmdFilter::getSteerDiffLim() const
   return interpolateFromSpeed(param_.actual_steer_diff_lim);
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate

control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp → control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp

@@ -15,17 +15,17 @@
 #ifndef VEHICLE_CMD_FILTER_HPP_
 #define VEHICLE_CMD_FILTER_HPP_
 
+#include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::msg::IsFilterActivated;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using LimitArray = std::vector<double>;
 
 struct VehicleCmdFilterParam
@@ -98,6 +98,6 @@ class VehicleCmdFilter
   double getSteerRateLim() const;
   double getSteerDiffLim() const;
 };
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // VEHICLE_CMD_FILTER_HPP_

control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp → control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

@@ -28,7 +28,7 @@
 #include <utility>
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 namespace
@@ -906,7 +906,7 @@ void VehicleCmdGate::publishMarkers(const IsFilterActivated & filter_activated)
   filter_activated_flag_pub_->publish(filter_activated_flag);
   filter_activated_marker_raw_pub_->publish(createMarkerArray(filter_activated));
 }
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_cmd_gate::VehicleCmdGate)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_cmd_gate::VehicleCmdGate)

control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp → control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp

@@ -20,11 +20,11 @@
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "vehicle_cmd_filter.hpp"
 
+#include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
@@ -51,13 +51,14 @@
 #include <memory>
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_control_msgs::msg::Control;
 using autoware_control_msgs::msg::Longitudinal;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using autoware_vehicle_msgs::msg::GearCommand;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_vehicle_msgs::msg::SteeringReport;
@@ -71,7 +72,6 @@ using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
 using tier4_system_msgs::msg::MrmBehaviorStatus;
 using tier4_vehicle_msgs::msg::VehicleEmergencyStamped;
-using vehicle_cmd_gate::msg::IsFilterActivated;
 using visualization_msgs::msg::MarkerArray;
 
 using diagnostic_msgs::msg::DiagnosticStatus;
@@ -257,5 +257,5 @@ class VehicleCmdGate : public rclcpp::Node
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 #endif  // VEHICLE_CMD_GATE_HPP_

control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp → control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp

@@ -54,7 +54,7 @@ const std::vector<double> lat_jerk_lim = {1.7, 1.3, 0.9, 0.6};
 const std::vector<double> actual_steer_diff_lim = {0.5, 0.4, 0.2, 0.1};
 const double wheelbase = 2.89;
 
-using vehicle_cmd_gate::VehicleCmdGate;
+using autoware::vehicle_cmd_gate::VehicleCmdGate;
 
 using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
@@ -369,7 +369,7 @@ std::shared_ptr<VehicleCmdGate> generateNode()
   auto node_options = rclcpp::NodeOptions{};
 
   const auto vehicle_cmd_gate_dir =
-    ament_index_cpp::get_package_share_directory("vehicle_cmd_gate");
+    ament_index_cpp::get_package_share_directory("autoware_vehicle_cmd_gate");
   const auto vehicle_info_util_dir =
     ament_index_cpp::get_package_share_directory("vehicle_info_util");
 

control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp → control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp

@@ -24,17 +24,17 @@
 #define ASSERT_LT_NEAR(x, y) ASSERT_LT(x, y + THRESHOLD)
 #define ASSERT_GT_NEAR(x, y) ASSERT_GT(x, y - THRESHOLD)
 
+using autoware::vehicle_cmd_gate::LimitArray;
 using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::LimitArray;
 
 constexpr double NOMINAL_INTERVAL = 1.0;
 
 void setFilterParams(
-  vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
+  autoware::vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
   LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, LimitArray steer_lim,
   LimitArray steer_rate_lim, const double wheelbase)
 {
-  vehicle_cmd_gate::VehicleCmdFilterParam p;
+  autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
   p.vel_lim = v;
   p.wheel_base = wheelbase;
   p.reference_speed_points = speed_points;
@@ -105,7 +105,7 @@ void test_1d_limit(
   const double WHEELBASE = 3.0;
   const double DT = 0.1;  // [s]
 
-  vehicle_cmd_gate::VehicleCmdFilter filter;
+  autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
   filter.setCurrentSpeed(ego_v);
   setFilterParams(
     filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, {STEER_LIM},
@@ -275,9 +275,9 @@ TEST(VehicleCmdFilter, VehicleCmdFilter)
 TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate)
 {
   constexpr double WHEELBASE = 2.8;
-  vehicle_cmd_gate::VehicleCmdFilter filter;
+  autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
 
-  vehicle_cmd_gate::VehicleCmdFilterParam p;
+  autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
   p.wheel_base = WHEELBASE;
   p.vel_lim = 20.0;
   p.reference_speed_points = std::vector<double>{2.0, 4.0, 10.0};

launch/tier4_control_launch/launch/control.launch.py

@@ -194,8 +194,8 @@ def launch_setup(context, *args, **kwargs):
 
     # vehicle cmd gate
     vehicle_cmd_gate_component = ComposableNode(
-        package="vehicle_cmd_gate",
-        plugin="vehicle_cmd_gate::VehicleCmdGate",
+        package="autoware_vehicle_cmd_gate",
+        plugin="autoware::vehicle_cmd_gate::VehicleCmdGate",
         name="vehicle_cmd_gate",
         remappings=[
             ("input/steering", "/vehicle/status/steering_status"),

launch/tier4_control_launch/package.xml

@@ -12,12 +12,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_lane_departure_checker</exec_depend>
+  <exec_depend>autoware_vehicle_cmd_gate</exec_depend>
   <exec_depend>control_evaluator</exec_depend>
   <exec_depend>external_cmd_converter</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower_node</exec_depend>
-  <exec_depend>vehicle_cmd_gate</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>