feat: apply autoware_ prefix for system_monitor

[sasakisasaki]

Currently, we only verified that the build succeeds. Further checks will be performed by using the updated module. This PR will be ready for review after finishing all the necessary checks/tests.

Executed Commands

$ # VCS imported Around 15:00 JST 24th Jan. 2025
$ vcs import src < autoware-nighty.repos    # Commented out autoware.universe repo
$ rosdep install -y --from-paths src --ignore-src --rosdistro humble
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON --packages-up-to autoware_system_monitor
$ source install/setup.bash
$ ros2 launch autoware_system_monitor system_monitor.launch.xml

As shown in the observed log below, I saw an error as follows. Please check if this is needed to be solved.

[ERROR 1737699264.298768084] [net_monitor]: Failed to connect socket. No such file or directory (connect_service() at /home/junyasasaki/forked.repos/autoware_debug/src/universe/autoware.universe/system/autoware_system_monitor/src/net_monitor/net_monitor.cpp:658)

Different Points from Other Packages in Prefix-ing

As the commit message says, this PR follows the following points.

    feat(system_monitor): apply `autoware_` prefix (see below):
    
      * The `system_monitor` operates independently from other modules in `autoware.universe`, so the `autoware_` prefix is added only to the package name.
      * The `autoware::` namespace is not used because C language does not support namespaces.
      * Headers are not moved under `include/autoware` to maintain compatibility for use outside the `autoware` context.
      * For users utilizing this package within `autoware.universe`, only the package name includes the `autoware_` prefix.
    
    This approach explains the unique namespacing and naming conventions for `system_monitor` compared to other packages.

• Directory Name

  • Add autoware_ as a prefix to the directory name.

• packages.xml

  • Add autoware_ to the name element.

• CMakeLists.txt

  • Change the project name to autoware_***.
  • Add autoware:: to PLUGIN.

• Header Files (.hpp)

  • Start #ifndef guards with AUTOWARE__.
  • Add autoware:: to namespace.

• Source Files (.cpp)

  • Add autoware:: inside RCLCPP_COMPONENTS_REGISTER_NODE.

• Launch Files

  • Add autoware_ before find-pkg-share.
  • Change node pkg="<pkgname>" to autoware_<pkgname>.

• Include

  • Add autoware folder as necessary and update include statements accordingly.
  • Check for impacts on other packages.

• Verification Points

  • Search find-pkg-share in autoware
  • Check README file (especially json schema)
  • Pay attention to complex cases like sensor_launch as seen in gnss_poser

Observed Logs after ROS2 launch

$ ros2 launch autoware_system_monitor system_monitor.launch.xml 
[INFO] [launch]: All log files can be found below /home/junyasasaki/.ros/log/2025-01-24-15-14-23-881290-npc2307030-440738
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [440750]
[component_container_mt-1] [INFO 1737699264.283868718] [system_monitor.system_monitor_container]: Load Library: /home/junyasasaki/forked.repos/autoware_debug/install/autoware_system_monitor/lib/libcpu_monitor_lib.so (create_component_factory() at ./src/component_manager.cpp:118)
[component_container_mt-1] [INFO 1737699264.285594298] [system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<CPUMonitor> (create_component_factory() at ./src/component_manager.cpp:131)
[component_container_mt-1] [INFO 1737699264.285622712] [system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<CPUMonitor> (create_component_factory() at ./src/component_manager.cpp:133)
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/cpu_monitor' in container '/system_monitor/system_monitor_container'
[component_container_mt-1] [INFO 1737699264.293256231] [system_monitor.system_monitor_container]: Load Library: /home/junyasasaki/forked.repos/autoware_debug/install/autoware_system_monitor/lib/libmem_monitor_lib.so (create_component_factory() at ./src/component_manager.cpp:118)
[component_container_mt-1] [INFO 1737699264.293569537] [system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<MemMonitor> (create_component_factory() at ./src/component_manager.cpp:131)
[component_container_mt-1] [INFO 1737699264.293580842] [system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<MemMonitor> (create_component_factory() at ./src/component_manager.cpp:133)
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/mem_monitor' in container '/system_monitor/system_monitor_container'
[component_container_mt-1] [INFO 1737699264.295579455] [system_monitor.system_monitor_container]: Load Library: /home/junyasasaki/forked.repos/autoware_debug/install/autoware_system_monitor/lib/libnet_monitor_lib.so (create_component_factory() at ./src/component_manager.cpp:118)
[component_container_mt-1] [INFO 1737699264.296308683] [system_monitor.system_monitor_container]: Found class: rclcpp_components::NodeFactoryTemplate<NetMonitor> (create_component_factory() at ./src/component_manager.cpp:131)
[component_container_mt-1] [INFO 1737699264.296325993] [system_monitor.system_monitor_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<NetMonitor> (create_component_factory() at ./src/component_manager.cpp:133)
[component_container_mt-1] [ERROR 1737699264.298768084] [net_monitor]: Failed to connect socket. No such file or directory (connect_service() at /home/junyasasaki/forked.repos/autoware_debug/src/universe/autoware.universe/system/autoware_system_monitor/src/net_monitor/net_monitor.cpp:658)

Notes for Reviewers

As above.

Interface Changes

None.

Effects on System Behavior

All the developers who were using system_monitor needs to modify their code. This is maybe kind of non quick-win task.

[github-actions]

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[TetsuKawa]

@sasakisasaki
Please change package name at .github/CODEOWNERS.

[sasakisasaki]

@TetsuKawa Thank you! Now I fixed .github/CODEOWNERS. Hopefully this is the correct fix 👍

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.10%. Comparing base (8b0b9a7) to head (11e623d).
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10017      +/-   ##
==========================================
- Coverage   29.78%   29.10%   -0.68%     
==========================================
  Files        1436     1459      +23     
  Lines      108308   110821    +2513     
  Branches    42956    43344     +388     
==========================================
  Hits        32256    32256              
- Misses      72920    75433    +2513     
  Partials     3132     3132              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	29.78% <ø> (ø)		Carriedforward from fe7d683

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[TetsuKawa]

@sasakisasaki
You should modify tier4_system_launch/launch/system.launch.xml

<group if="$(var launch_system_monitor)">
  <push-ros-namespace namespace="system_monitor"/>
  <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml">
    <arg name="cpu_monitor_config_file" value="$(var system_monitor_cpu_monitor_param_path)"/>
    <arg name="gpu_monitor_config_file" value="$(var system_monitor_gpu_monitor_param_path)"/>
    <arg name="hdd_monitor_config_file" value="$(var system_monitor_hdd_monitor_param_path)"/>
    <arg name="mem_monitor_config_file" value="$(var system_monitor_mem_monitor_param_path)"/>
    <arg name="net_monitor_config_file" value="$(var system_monitor_net_monitor_param_path)"/>
    <arg name="ntp_monitor_config_file" value="$(var system_monitor_ntp_monitor_param_path)"/>
    <arg name="process_monitor_config_file" value="$(var system_monitor_process_monitor_param_path)"/>
    <arg name="voltage_monitor_config_file" value="$(var system_monitor_voltage_monitor_param_path)"/>
  </include>
</group>

[sasakisasaki]

OMG, sorry for leaving the missing fix! @TetsuKawa Thank you so much for your careful check! Honestly, I was forgetting to apply the fix when I switch to the new branch from the old one 😅 .

[sasakisasaki]

@TetsuKawa Also, I'll fix the CODEOWNERS (please give me time, ...)

[sasakisasaki]

Now ready to review 👍

[TetsuKawa]

LGTM