refactor(surround_obstacle_checker)!: prefix package and namespace with autoware

.github/CODEOWNERS

@@ -199,7 +199,7 @@ planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp
 planning/scenario_selector/** 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
-planning/surround_obstacle_checker/** satoshi.ota@tier4.jp
+planning/autoware_surround_obstacle_checker/** satoshi.ota@tier4.jp
 sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
 sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -232,7 +232,7 @@
   <!-- surround obstacle check -->
   <group if="$(var launch_surround_obstacle_checker)">
     <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-      <composable_node pkg="surround_obstacle_checker" plugin="surround_obstacle_checker::SurroundObstacleCheckerNode" name="surround_obstacle_checker" namespace="">
+      <composable_node pkg="autoware_surround_obstacle_checker" plugin="autoware::surround_obstacle_checker::SurroundObstacleCheckerNode" name="surround_obstacle_checker" namespace="">
         <!-- topic remap -->
         <remap from="~/input/odometry" to="/localization/kinematic_state"/>
         <remap from="~/input/objects" to="/perception/object_recognition/objects"/>

launch/tier4_planning_launch/package.xml

@@ -60,6 +60,7 @@
   <exec_depend>autoware_behavior_velocity_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
+  <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
@@ -74,7 +75,6 @@
   <exec_depend>planning_topic_converter</exec_depend>
   <exec_depend>planning_validator</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
-  <exec_depend>surround_obstacle_checker</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

planning/.pages

@@ -61,8 +61,8 @@ nav:
       - 'Frenet Planner': planning/sampling_based_planner/frenet_planner
       - 'Bezier Sampler': planning/sampling_based_planner/bezier_sampler
     - 'Surround Obstacle Checker':
-      - 'About Surround Obstacle Checker': planning/surround_obstacle_checker
-      - 'About Surround Obstacle Checker (Japanese)': planning/surround_obstacle_checker/surround_obstacle_checker-design.ja
+      - 'About Surround Obstacle Checker': planning/autoware_surround_obstacle_checker
+      - 'About Surround Obstacle Checker (Japanese)': planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja
     - 'Motion Velocity Planner':
       - 'About Motion Velocity Planner': planning/autoware_motion_velocity_planner_node/
       - 'Available Modules':

planning/surround_obstacle_checker/CMakeLists.txt → planning/autoware_surround_obstacle_checker/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(surround_obstacle_checker)
+project(autoware_surround_obstacle_checker)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -23,7 +23,7 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "surround_obstacle_checker::SurroundObstacleCheckerNode"
+  PLUGIN "autoware::surround_obstacle_checker::SurroundObstacleCheckerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

planning/surround_obstacle_checker/README.md → planning/autoware_surround_obstacle_checker/README.md

@@ -101,7 +101,7 @@ As mentioned in stop condition section, it prevents chattering by changing thres
 
 ## Parameters
 
-{{ json_to_markdown("planning/surround_obstacle_checker/schema/surround_obstacle_checker.schema.json") }}
+{{ json_to_markdown("planning/autoware_surround_obstacle_checker/schema/surround_obstacle_checker.schema.json") }}
 
 | Name                                 | Type     | Description                                                                                                                                      | Default value                                |
 | :----------------------------------- | :------- | :----------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------- |

planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp → planning/autoware_surround_obstacle_checker/include/autoware_surround_obstacle_checker/debug_marker.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_
-#define SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_
+#ifndef AUTOWARE_SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_
+#define AUTOWARE_SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
@@ -31,7 +31,7 @@
 #include <memory>
 #include <string>
 
-namespace surround_obstacle_checker
+namespace autoware::surround_obstacle_checker
 {
 
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
@@ -98,5 +98,5 @@ class SurroundObstacleCheckerDebugNode
   std::shared_ptr<geometry_msgs::msg::Pose> stop_pose_ptr_;
   rclcpp::Clock::SharedPtr clock_;
 };
-}  // namespace surround_obstacle_checker
-#endif  // SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_
+}  // namespace autoware::surround_obstacle_checker
+#endif  // AUTOWARE_SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_

planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp → planning/autoware_surround_obstacle_checker/include/autoware_surround_obstacle_checker/node.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SURROUND_OBSTACLE_CHECKER__NODE_HPP_
-#define SURROUND_OBSTACLE_CHECKER__NODE_HPP_
+#ifndef AUTOWARE_SURROUND_OBSTACLE_CHECKER__NODE_HPP_
+#define AUTOWARE_SURROUND_OBSTACLE_CHECKER__NODE_HPP_
 
-#include "surround_obstacle_checker/debug_marker.hpp"
+#include "autoware_surround_obstacle_checker/debug_marker.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
@@ -43,7 +43,7 @@
 #include <utility>
 #include <vector>
 
-namespace surround_obstacle_checker
+namespace autoware::surround_obstacle_checker
 {
 
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -149,6 +149,6 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
 
   std::unordered_map<std::string, int> label_map_;
 };
-}  // namespace surround_obstacle_checker
+}  // namespace autoware::surround_obstacle_checker
 
-#endif  // SURROUND_OBSTACLE_CHECKER__NODE_HPP_
+#endif  // AUTOWARE_SURROUND_OBSTACLE_CHECKER__NODE_HPP_

planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml → planning/autoware_surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml

@@ -1,13 +1,13 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share surround_obstacle_checker)/config/surround_obstacle_checker.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_surround_obstacle_checker)/config/surround_obstacle_checker.param.yaml"/>
 
   <arg name="input_objects" default="/perception/object_recognition/objects"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="output_velocity_limit" default="/planning/scenario_planning/max_velocity_candidates"/>
   <arg name="output_velocity_limit_clear_command" default="/planning/scenario_planning/clear_velocity_limit"/>
 
-  <node pkg="surround_obstacle_checker" exec="surround_obstacle_checker_node" name="surround_obstacle_checker" output="screen">
+  <node pkg="autoware_surround_obstacle_checker" exec="surround_obstacle_checker_node" name="surround_obstacle_checker" output="screen">
     <param from="$(var param_path)"/>
     <remap from="~/output/no_start_reason" to="/planning/scenario_planning/status/no_start_reason"/>
     <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>

planning/surround_obstacle_checker/package.xml → planning/autoware_surround_obstacle_checker/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>surround_obstacle_checker</name>
+  <name>autoware_surround_obstacle_checker</name>
   <version>0.1.0</version>
-  <description>The surround_obstacle_checker package</description>
+  <description>The autoware_surround_obstacle_checker package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="go.sakayori@tier4.jp">Go Sakayori</maintainer>
   <license>Apache License 2.0</license>

planning/surround_obstacle_checker/schema/surround_obstacle_checker.schema.json → planning/autoware_surround_obstacle_checker/schema/surround_obstacle_checker.schema.json

@@ -3,7 +3,7 @@
   "title": "Parameters for Surround Obstacle Checker Node",
   "type": "object",
   "definitions": {
-    "surround_obstacle_checker": {
+    "autoware_surround_obstacle_checker": {
       "type": "object",
       "properties": {
         "pointcloud": {
@@ -385,7 +385,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/surround_obstacle_checker"
+          "$ref": "#/definitions/autoware_surround_obstacle_checker"
         }
       },
       "required": ["ros__parameters"],

planning/surround_obstacle_checker/src/debug_marker.cpp → planning/autoware_surround_obstacle_checker/src/debug_marker.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "surround_obstacle_checker/debug_marker.hpp"
+#include "autoware_surround_obstacle_checker/debug_marker.hpp"
 
 #include <motion_utils/marker/marker_helper.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -25,7 +25,7 @@
 
 #include <memory>
 
-namespace surround_obstacle_checker
+namespace autoware::surround_obstacle_checker
 {
 namespace
 {
@@ -245,4 +245,4 @@ void SurroundObstacleCheckerDebugNode::updateFootprintMargin(
   surround_check_back_distance_ = back_distance;
 }
 
-}  // namespace surround_obstacle_checker
+}  // namespace autoware::surround_obstacle_checker

planning/surround_obstacle_checker/src/node.cpp → planning/autoware_surround_obstacle_checker/src/node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "surround_obstacle_checker/node.hpp"
+#include "autoware_surround_obstacle_checker/node.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/update_param.hpp>
@@ -46,7 +46,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-namespace surround_obstacle_checker
+namespace autoware::surround_obstacle_checker
 {
 namespace bg = boost::geometry;
 using Point2d = bg::model::d2::point_xy<double>;
@@ -541,7 +541,7 @@ bool SurroundObstacleCheckerNode::isStopRequired(
   return false;
 }
 
-}  // namespace surround_obstacle_checker
+}  // namespace autoware::surround_obstacle_checker
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(surround_obstacle_checker::SurroundObstacleCheckerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::surround_obstacle_checker::SurroundObstacleCheckerNode)