refactor(path_smoother)!: prefix package and namespace with autoware (#…

…7381) * git mv Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * rever a part of prefix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix test Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix static_centerline_optimizer Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Jul 22, 2024 · fe19c10 · fe19c10
1 parent 0e4e977
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -194,7 +194,7 @@ planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke
 planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
-planning/path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
+planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
 planning/planning_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 planning/planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
 planning/route_handler/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp

diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -28,7 +28,7 @@
   <group>
     <group if="$(eval &quot;'$(var motion_path_smoother_type)' == 'elastic_band'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="path_smoother" plugin="path_smoother::ElasticBandSmoother" name="elastic_band_smoother" namespace="">
+        <composable_node pkg="autoware_path_smoother" plugin="autoware::path_smoother::ElasticBandSmoother" name="elastic_band_smoother" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="$(var interface_input_topic)"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>

diff --git a/planning/.pages b/planning/.pages
@@ -53,8 +53,8 @@ nav:
     - 'Obstacle Stop Planner': planning/obstacle_stop_planner
     - 'Obstacle Velocity Limiter': planning/obstacle_velocity_limiter
     - 'Path Smoother':
-      - 'About Path Smoother': planning/path_smoother
-      - 'Elastic Band': planning/path_smoother/docs/eb
+      - 'About Path Smoother': planning/autoware_path_smoother
+      - 'Elastic Band': planning/autoware_path_smoother/docs/eb
     - 'Sampling Based Planner':
       - 'Path Sample': planning/sampling_based_planner/autoware_path_sampler
       - 'Common library': planning/sampling_based_planner/autoware_sampler_common

diff --git a/planning/path_smoother/CMakeLists.txt → ...ing/autoware_path_smoother/CMakeLists.txt b/planning/path_smoother/CMakeLists.txt → ...ing/autoware_path_smoother/CMakeLists.txt
@@ -1,23 +1,23 @@
 cmake_minimum_required(VERSION 3.14)
-project(path_smoother)
+project(autoware_path_smoother)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-ament_auto_add_library(path_smoother SHARED
+ament_auto_add_library(autoware_path_smoother SHARED
   DIRECTORY src
 )
 
-target_include_directories(path_smoother
+target_include_directories(autoware_path_smoother
   SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIR}
 )
 
 # register node
-rclcpp_components_register_node(path_smoother
-  PLUGIN "path_smoother::ElasticBandSmoother"
+rclcpp_components_register_node(autoware_path_smoother
+  PLUGIN "autoware::path_smoother::ElasticBandSmoother"
   EXECUTABLE elastic_band_smoother
 )
 

diff --git a/planning/path_smoother/README.md → planning/autoware_path_smoother/README.md b/planning/path_smoother/README.md → planning/autoware_path_smoother/README.md
diff --git a/...r/config/elastic_band_smoother.param.yaml → ...r/config/elastic_band_smoother.param.yaml b/...r/config/elastic_band_smoother.param.yaml → ...r/config/elastic_band_smoother.param.yaml
diff --git a/planning/path_smoother/docs/eb.md → planning/autoware_path_smoother/docs/eb.md b/planning/path_smoother/docs/eb.md → planning/autoware_path_smoother/docs/eb.md
diff --git a/.../include/path_smoother/common_structs.hpp → ...autoware_path_smoother/common_structs.hpp b/.../include/path_smoother/common_structs.hpp → ...autoware_path_smoother/common_structs.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__COMMON_STRUCTS_HPP_
-#define PATH_SMOOTHER__COMMON_STRUCTS_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__COMMON_STRUCTS_HPP_
+#define AUTOWARE_PATH_SMOOTHER__COMMON_STRUCTS_HPP_
 
-#include "path_smoother/type_alias.hpp"
+#include "autoware_path_smoother/type_alias.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 struct Bounds;
 
@@ -131,6 +131,6 @@ struct EgoNearestParam
   double dist_threshold{0.0};
   double yaw_threshold{0.0};
 };
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother
 
-#endif  // PATH_SMOOTHER__COMMON_STRUCTS_HPP_
+#endif  // AUTOWARE_PATH_SMOOTHER__COMMON_STRUCTS_HPP_
diff --git a/...er/include/path_smoother/elastic_band.hpp → ...e/autoware_path_smoother/elastic_band.hpp b/...er/include/path_smoother/elastic_band.hpp → ...e/autoware_path_smoother/elastic_band.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__ELASTIC_BAND_HPP_
-#define PATH_SMOOTHER__ELASTIC_BAND_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_HPP_
+#define AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_HPP_
 
+#include "autoware_path_smoother/common_structs.hpp"
+#include "autoware_path_smoother/type_alias.hpp"
 #include "osqp_interface/osqp_interface.hpp"
-#include "path_smoother/common_structs.hpp"
-#include "path_smoother/type_alias.hpp"
 
 #include <Eigen/Core>
 
@@ -27,7 +27,7 @@
 #include <utility>
 #include <vector>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 class EBPathSmoother
 {
@@ -128,6 +128,6 @@ class EBPathSmoother
     const std::vector<double> & optimized_points, const std::vector<TrajectoryPoint> & traj_points,
     const int pad_start_idx) const;
 };
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother
 
-#endif  // PATH_SMOOTHER__ELASTIC_BAND_HPP_
+#endif  // AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_HPP_
diff --git a/...e/path_smoother/elastic_band_smoother.hpp → ...e_path_smoother/elastic_band_smoother.hpp b/...e/path_smoother/elastic_band_smoother.hpp → ...e_path_smoother/elastic_band_smoother.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
-#define PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
+#define AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
 
+#include "autoware_path_smoother/common_structs.hpp"
+#include "autoware_path_smoother/elastic_band.hpp"
+#include "autoware_path_smoother/replan_checker.hpp"
+#include "autoware_path_smoother/type_alias.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "path_smoother/common_structs.hpp"
-#include "path_smoother/elastic_band.hpp"
-#include "path_smoother/replan_checker.hpp"
-#include "path_smoother/type_alias.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
@@ -32,7 +32,7 @@
 #include <string>
 #include <vector>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 class ElasticBandSmoother : public rclcpp::Node
 {
@@ -116,6 +116,6 @@ class ElasticBandSmoother : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother
 
-#endif  // PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
+#endif  // AUTOWARE_PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_
diff --git a/.../include/path_smoother/replan_checker.hpp → ...autoware_path_smoother/replan_checker.hpp b/.../include/path_smoother/replan_checker.hpp → ...autoware_path_smoother/replan_checker.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__REPLAN_CHECKER_HPP_
-#define PATH_SMOOTHER__REPLAN_CHECKER_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__REPLAN_CHECKER_HPP_
+#define AUTOWARE_PATH_SMOOTHER__REPLAN_CHECKER_HPP_
 
-#include "path_smoother/common_structs.hpp"
-#include "path_smoother/type_alias.hpp"
+#include "autoware_path_smoother/common_structs.hpp"
+#include "autoware_path_smoother/type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 #include <vector>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 class ReplanChecker
 {
@@ -66,6 +66,6 @@ class ReplanChecker
   bool isPathGoalChanged(
     const PlannerData & planner_data, const std::vector<TrajectoryPoint> & prev_traj_points) const;
 };
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother
 
-#endif  // PATH_SMOOTHER__REPLAN_CHECKER_HPP_
+#endif  // AUTOWARE_PATH_SMOOTHER__REPLAN_CHECKER_HPP_
diff --git a/...ther/include/path_smoother/type_alias.hpp → ...ude/autoware_path_smoother/type_alias.hpp b/...ther/include/path_smoother/type_alias.hpp → ...ude/autoware_path_smoother/type_alias.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__TYPE_ALIAS_HPP_
-#define PATH_SMOOTHER__TYPE_ALIAS_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__TYPE_ALIAS_HPP_
+#define AUTOWARE_PATH_SMOOTHER__TYPE_ALIAS_HPP_
 
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
@@ -25,7 +25,7 @@
 #include "tier4_debug_msgs/msg/float64_stamped.hpp"
 #include "tier4_debug_msgs/msg/string_stamped.hpp"
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 // std_msgs
 using std_msgs::msg::Header;
@@ -39,6 +39,6 @@ using nav_msgs::msg::Odometry;
 // debug
 using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_debug_msgs::msg::StringStamped;
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother
 
-#endif  // PATH_SMOOTHER__TYPE_ALIAS_HPP_
+#endif  // AUTOWARE_PATH_SMOOTHER__TYPE_ALIAS_HPP_
diff --git a/...de/path_smoother/utils/geometry_utils.hpp → ...re_path_smoother/utils/geometry_utils.hpp b/...de/path_smoother/utils/geometry_utils.hpp → ...re_path_smoother/utils/geometry_utils.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
-#define PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
+#define AUTOWARE_PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 namespace geometry_utils
 {
@@ -31,5 +31,5 @@ bool isSamePoint(const T1 & t1, const T2 & t2)
   return (std::abs(p1.x - p2.x) <= epsilon && std::abs(p1.y - p2.y) <= epsilon);
 }
 }  // namespace geometry_utils
-}  // namespace path_smoother
-#endif  // PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
+}  // namespace autoware::path_smoother
+#endif  // AUTOWARE_PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
diff --git a/.../path_smoother/utils/trajectory_utils.hpp → ..._path_smoother/utils/trajectory_utils.hpp b/.../path_smoother/utils/trajectory_utils.hpp → ..._path_smoother/utils/trajectory_utils.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
-#define PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
+#ifndef AUTOWARE_PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
+#define AUTOWARE_PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
 
+#include "autoware_path_smoother/common_structs.hpp"
+#include "autoware_path_smoother/type_alias.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "path_smoother/common_structs.hpp"
-#include "path_smoother/type_alias.hpp"
 
 #include <Eigen/Core>
 
@@ -35,7 +35,7 @@
 #include <string>
 #include <vector>
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 namespace trajectory_utils
 {
@@ -137,7 +137,7 @@ std::optional<size_t> updateFrontPointForFix(
     motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
   if (0 < lon_offset_to_prev_front) {
     RCLCPP_DEBUG(
-      rclcpp::get_logger("path_smoother.trajectory_utils"),
+      rclcpp::get_logger("autoware_path_smoother.trajectory_utils"),
       "Fixed point will not be inserted due to the error during calculation.");
     return std::nullopt;
   }
@@ -148,7 +148,7 @@ std::optional<size_t> updateFrontPointForFix(
   constexpr double max_lat_error = 3.0;
   if (max_lat_error < dist) {
     RCLCPP_DEBUG(
-      rclcpp::get_logger("path_smoother.trajectory_utils"),
+      rclcpp::get_logger("autoware_path_smoother.trajectory_utils"),
       "New Fixed point is too far from points %f [m]", dist);
   }
 
@@ -170,5 +170,5 @@ void insertStopPoint(
   std::vector<TrajectoryPoint> & traj_points, const geometry_msgs::msg::Pose & input_stop_pose,
   const size_t stop_seg_idx);
 }  // namespace trajectory_utils
-}  // namespace path_smoother
-#endif  // PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
+}  // namespace autoware::path_smoother
+#endif  // AUTOWARE_PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_
diff --git a/...r/launch/elastic_band_smoother.launch.xml → ...r/launch/elastic_band_smoother.launch.xml b/...r/launch/elastic_band_smoother.launch.xml → ...r/launch/elastic_band_smoother.launch.xml
@@ -3,9 +3,9 @@
   <arg name="output_path_topic" default="/planning/scenario_planning/lane_driving/path_smoother/path"/>
   <arg name="output_trajectory_topic" default="/planning/scenario_planning/lane_driving/path_smoother/trajectory"/>
   <arg name="enable_debug_info" default="false"/>
-  <arg name="param_path" default="$(find-pkg-share path_smoother)/config/elastic_band_smoother.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_path_smoother)/config/elastic_band_smoother.param.yaml"/>
 
-  <node pkg="path_smoother" exec="elastic_band_smoother" name="elastic_band_smoother" output="screen">
+  <node pkg="autoware_path_smoother" exec="elastic_band_smoother" name="elastic_band_smoother" output="screen">
     <remap from="~/input/path" to="$(var input_path_topic)"/>
     <remap from="~/input/odometry" to="/localization/kinematic_state"/>
     <remap from="~/output/traj" to="$(var output_trajectory_topic)"/>

diff --git a/...dia/debug/eb_fixed_traj_visualization.png → ...dia/debug/eb_fixed_traj_visualization.png b/...dia/debug/eb_fixed_traj_visualization.png → ...dia/debug/eb_fixed_traj_visualization.png
diff --git a/...her/media/debug/eb_traj_visualization.png → ...her/media/debug/eb_traj_visualization.png b/...her/media/debug/eb_traj_visualization.png → ...her/media/debug/eb_traj_visualization.png
diff --git a/planning/path_smoother/media/eb.svg → planning/autoware_path_smoother/media/eb.svg b/planning/path_smoother/media/eb.svg → planning/autoware_path_smoother/media/eb.svg
diff --git a/...ing/path_smoother/media/eb_constraint.svg → ...are_path_smoother/media/eb_constraint.svg b/...ing/path_smoother/media/eb_constraint.svg → ...are_path_smoother/media/eb_constraint.svg
diff --git a/planning/path_smoother/package.xml → planning/autoware_path_smoother/package.xml b/planning/path_smoother/package.xml → planning/autoware_path_smoother/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>path_smoother</name>
+  <name>autoware_path_smoother</name>
   <version>0.1.0</version>
-  <description>The path_smoother package</description>
+  <description>The autoware_path_smoother package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>

diff --git a/...other/scripts/calculation_time_plotter.py → ...other/scripts/calculation_time_plotter.py b/...other/scripts/calculation_time_plotter.py → ...other/scripts/calculation_time_plotter.py
diff --git a/planning/path_smoother/src/elastic_band.cpp → ...toware_path_smoother/src/elastic_band.cpp b/planning/path_smoother/src/elastic_band.cpp → ...toware_path_smoother/src/elastic_band.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "path_smoother/elastic_band.hpp"
+#include "autoware_path_smoother/elastic_band.hpp"
 
+#include "autoware_path_smoother/type_alias.hpp"
+#include "autoware_path_smoother/utils/geometry_utils.hpp"
+#include "autoware_path_smoother/utils/trajectory_utils.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "path_smoother/type_alias.hpp"
-#include "path_smoother/utils/geometry_utils.hpp"
-#include "path_smoother/utils/trajectory_utils.hpp"
 #include "tf2/utils.h"
 
 #include <Eigen/Core>
@@ -84,7 +84,7 @@ std_msgs::msg::Header createHeader(const rclcpp::Time & now)
 }
 }  // namespace
 
-namespace path_smoother
+namespace autoware::path_smoother
 {
 EBPathSmoother::EBParam::EBParam(rclcpp::Node * node)
 {
@@ -453,4 +453,4 @@ std::optional<std::vector<TrajectoryPoint>> EBPathSmoother::convertOptimizedPoin
   time_keeper_ptr_->toc(__func__, "        ");
   return eb_traj_points;
 }
-}  // namespace path_smoother
+}  // namespace autoware::path_smoother