From fee672279755a6c2c646ec87bc3ee023af89d212 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Thu, 6 Jun 2024 14:47:12 +0900 Subject: [PATCH 1/2] RT1-6683 add autoware prefix to package and namepace Signed-off-by: Muhammad Zulfaqar Azmi --- control/autoware_pure_pursuit/CMakeLists.txt | 39 +++++++++++++++++++ .../README.md | 0 .../config/pure_pursuit.param.yaml | 0 ...t_lateral_controller_plotjuggler_debug.xml | 0 .../autoware_pure_pursuit.hpp} | 10 ++--- ...oware_pure_pursuit_lateral_controller.hpp} | 14 +++---- .../autoware_pure_pursuit_node.hpp} | 14 +++---- .../autoware_pure_pursuit_viz.hpp} | 10 ++--- .../util/interpolate.hpp | 10 ++--- .../util/marker_helper.hpp | 10 ++--- .../util/planning_utils.hpp | 10 ++--- .../autoware_pure_pursuit}/util/tf_utils.hpp | 10 ++--- .../launch/pure_pursuit.launch.xml | 0 .../package.xml | 2 +- ...oware_pure_pursuit_lateral_controller.cpp} | 14 +++---- .../autoware_pure_pursuit_node.cpp} | 14 +++---- .../autoware_pure_pursuit_viz.cpp} | 14 +++---- .../autoware_pure_pursuit.cpp} | 8 ++-- .../interpolate.cpp | 6 +-- .../planning_utils.cpp | 6 +-- .../package.xml | 2 +- .../src/controller_node.cpp | 5 ++- control/pure_pursuit/CMakeLists.txt | 39 ------------------- 23 files changed, 119 insertions(+), 118 deletions(-) create mode 100644 control/autoware_pure_pursuit/CMakeLists.txt rename control/{pure_pursuit => autoware_pure_pursuit}/README.md (100%) rename control/{pure_pursuit => autoware_pure_pursuit}/config/pure_pursuit.param.yaml (100%) rename control/{pure_pursuit => autoware_pure_pursuit}/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml (100%) rename control/{pure_pursuit/include/pure_pursuit/pure_pursuit.hpp => autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit.hpp} (91%) rename control/{pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp => autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp} (93%) rename control/{pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp => autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_node.hpp} (90%) rename control/{pure_pursuit/include/pure_pursuit/pure_pursuit_viz.hpp => autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp} (86%) rename control/{pure_pursuit/include/pure_pursuit => autoware_pure_pursuit/include/autoware_pure_pursuit}/util/interpolate.hpp (88%) rename control/{pure_pursuit/include/pure_pursuit => autoware_pure_pursuit/include/autoware_pure_pursuit}/util/marker_helper.hpp (91%) rename control/{pure_pursuit/include/pure_pursuit => autoware_pure_pursuit/include/autoware_pure_pursuit}/util/planning_utils.hpp (94%) rename control/{pure_pursuit/include/pure_pursuit => autoware_pure_pursuit/include/autoware_pure_pursuit}/util/tf_utils.hpp (92%) rename control/{pure_pursuit => autoware_pure_pursuit}/launch/pure_pursuit.launch.xml (100%) rename control/{pure_pursuit => autoware_pure_pursuit}/package.xml (97%) rename control/{pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp => autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp} (97%) rename control/{pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp => autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_node.cpp} (94%) rename control/{pure_pursuit/src/pure_pursuit/pure_pursuit_viz.cpp => autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_viz.cpp} (86%) rename control/{pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp => autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp} (97%) rename control/{pure_pursuit/src/pure_pursuit_core => autoware_pure_pursuit/src/autoware_pure_pursuit_core}/interpolate.cpp (98%) rename control/{pure_pursuit/src/pure_pursuit_core => autoware_pure_pursuit/src/autoware_pure_pursuit_core}/planning_utils.cpp (98%) delete mode 100644 control/pure_pursuit/CMakeLists.txt diff --git a/control/autoware_pure_pursuit/CMakeLists.txt b/control/autoware_pure_pursuit/CMakeLists.txt new file mode 100644 index 0000000000000..eac7c723901aa --- /dev/null +++ b/control/autoware_pure_pursuit/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_pure_pursuit) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Eigen3 REQUIRED) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIRS} +) + +# autoware_pure_pursuit_core +ament_auto_add_library(${PROJECT_NAME}_core SHARED + src/${PROJECT_NAME}_core/planning_utils.cpp + src/${PROJECT_NAME}_core/${PROJECT_NAME}.cpp + src/${PROJECT_NAME}_core/interpolate.cpp +) + +# autoware_pure_pursuit +ament_auto_add_library(${PROJECT_NAME}_lateral_controller SHARED + src/${PROJECT_NAME}/${PROJECT_NAME}_lateral_controller.cpp + src/${PROJECT_NAME}/${PROJECT_NAME}_viz.cpp +) + +target_link_libraries(${PROJECT_NAME}_lateral_controller + ${PROJECT_NAME}_core +) + +rclcpp_components_register_node(${PROJECT_NAME}_lateral_controller + PLUGIN "autoware::pure_pursuit::PurePursuitLateralController" + EXECUTABLE ${PROJECT_NAME}_lateral_controller_exe +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/control/pure_pursuit/README.md b/control/autoware_pure_pursuit/README.md similarity index 100% rename from control/pure_pursuit/README.md rename to control/autoware_pure_pursuit/README.md diff --git a/control/pure_pursuit/config/pure_pursuit.param.yaml b/control/autoware_pure_pursuit/config/pure_pursuit.param.yaml similarity index 100% rename from control/pure_pursuit/config/pure_pursuit.param.yaml rename to control/autoware_pure_pursuit/config/pure_pursuit.param.yaml diff --git a/control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml b/control/autoware_pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml similarity index 100% rename from control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml rename to control/autoware_pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml diff --git a/control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit.hpp similarity index 91% rename from control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit.hpp index 99b1a82ab2dce..7998cbefa4e39 100644 --- a/control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit.hpp @@ -27,8 +27,8 @@ * limitations under the License. */ -#ifndef PURE_PURSUIT__PURE_PURSUIT_HPP_ -#define PURE_PURSUIT__PURE_PURSUIT_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_HPP_ +#define AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_HPP_ #include @@ -42,7 +42,7 @@ #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { class PurePursuit { @@ -83,6 +83,6 @@ class PurePursuit std::pair lerpNextTarget(int32_t next_wp_idx); }; -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__PURE_PURSUIT_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp similarity index 93% rename from control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp index 643a0d370a417..c47561ce38236 100644 --- a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp @@ -27,12 +27,12 @@ * limitations under the License. */ -#ifndef PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ -#define PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ +#define AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ #include "autoware_trajectory_follower_base/lateral_controller_base.hpp" -#include "pure_pursuit/pure_pursuit.hpp" -#include "pure_pursuit/pure_pursuit_viz.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -60,7 +60,7 @@ using autoware_control_msgs::msg::Lateral; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -namespace pure_pursuit +namespace autoware::pure_pursuit { struct PpOutput @@ -174,6 +174,6 @@ class PurePursuitLateralController : public LateralControllerBase mutable DebugData debug_data_; }; -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_node.hpp similarity index 90% rename from control/pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_node.hpp index 10d2df8285f12..1a67dbe1a178b 100644 --- a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_node.hpp @@ -27,11 +27,11 @@ * limitations under the License. */ -#ifndef PURE_PURSUIT__PURE_PURSUIT_NODE_HPP_ -#define PURE_PURSUIT__PURE_PURSUIT_NODE_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_NODE_HPP_ +#define AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_NODE_HPP_ -#include "pure_pursuit/pure_pursuit.hpp" -#include "pure_pursuit/pure_pursuit_viz.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp" #include #include @@ -50,7 +50,7 @@ #include -namespace pure_pursuit +namespace autoware::pure_pursuit { struct Param { @@ -124,6 +124,6 @@ class PurePursuitNode : public rclcpp::Node mutable DebugData debug_data_; }; -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__PURE_PURSUIT_NODE_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_NODE_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_viz.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp similarity index 86% rename from control/pure_pursuit/include/pure_pursuit/pure_pursuit_viz.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp index adc803538703f..e5fe80d9dc68c 100644 --- a/control/pure_pursuit/include/pure_pursuit/pure_pursuit_viz.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp @@ -27,21 +27,21 @@ * limitations under the License. */ -#ifndef PURE_PURSUIT__PURE_PURSUIT_VIZ_HPP_ -#define PURE_PURSUIT__PURE_PURSUIT_VIZ_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_VIZ_HPP_ +#define AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_VIZ_HPP_ #include #include #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { visualization_msgs::msg::Marker createNextTargetMarker( const geometry_msgs::msg::Point & next_target); visualization_msgs::msg::Marker createTrajectoryCircleMarker( const geometry_msgs::msg::Point & target, const geometry_msgs::msg::Pose & current_pose); -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__PURE_PURSUIT_VIZ_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_VIZ_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/util/interpolate.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/interpolate.hpp similarity index 88% rename from control/pure_pursuit/include/pure_pursuit/util/interpolate.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/interpolate.hpp index b62a0336e5de7..eb7703b56c1a2 100644 --- a/control/pure_pursuit/include/pure_pursuit/util/interpolate.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/interpolate.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ -#define PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ +#define AUTOWARE_PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ #include #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { class LinearInterpolate { @@ -50,6 +50,6 @@ class SplineInterpolate const std::vector & return_index, std::vector & return_value); void getValueVector(const std::vector & s_v, std::vector & value_v); }; -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__UTIL__INTERPOLATE_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/util/marker_helper.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/marker_helper.hpp similarity index 91% rename from control/pure_pursuit/include/pure_pursuit/util/marker_helper.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/marker_helper.hpp index 56943b4072fb3..d265ab751313a 100644 --- a/control/pure_pursuit/include/pure_pursuit/util/marker_helper.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/marker_helper.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ -#define PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ +#define AUTOWARE_PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ #include @@ -21,7 +21,7 @@ #include -namespace pure_pursuit +namespace autoware::pure_pursuit { inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z) { @@ -102,6 +102,6 @@ inline void appendMarkerArray( marker_array->markers.push_back(marker); } } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__UTIL__MARKER_HELPER_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/planning_utils.hpp similarity index 94% rename from control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/planning_utils.hpp index b2d6e13c585f4..e5f7072435c9c 100644 --- a/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/planning_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ -#define PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ +#define AUTOWARE_PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ #define EIGEN_MPL2_ONLY @@ -45,7 +45,7 @@ #define PLANNING_UTILS_LOGGER "planning_utils" -namespace pure_pursuit +namespace autoware::pure_pursuit { namespace planning_utils { @@ -139,6 +139,6 @@ geometry_msgs::msg::Point transformToRelativeCoordinate2D( geometry_msgs::msg::Quaternion getQuaternionFromYaw(const double _yaw); } // namespace planning_utils -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__UTIL__PLANNING_UTILS_HPP_ diff --git a/control/pure_pursuit/include/pure_pursuit/util/tf_utils.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/tf_utils.hpp similarity index 92% rename from control/pure_pursuit/include/pure_pursuit/util/tf_utils.hpp rename to control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/tf_utils.hpp index b63bff5b6a6c6..b5b635feebcc7 100644 --- a/control/pure_pursuit/include/pure_pursuit/util/tf_utils.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/tf_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PURE_PURSUIT__UTIL__TF_UTILS_HPP_ -#define PURE_PURSUIT__UTIL__TF_UTILS_HPP_ +#ifndef AUTOWARE_PURE_PURSUIT__UTIL__TF_UTILS_HPP_ +#define AUTOWARE_PURE_PURSUIT__UTIL__TF_UTILS_HPP_ #include @@ -31,7 +31,7 @@ #define TF_UTILS_LOGGER "tf_utils" -namespace pure_pursuit +namespace autoware::pure_pursuit { namespace tf_utils { @@ -92,6 +92,6 @@ inline boost::optional getCurrentPose( } } // namespace tf_utils -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit -#endif // PURE_PURSUIT__UTIL__TF_UTILS_HPP_ +#endif // AUTOWARE_PURE_PURSUIT__UTIL__TF_UTILS_HPP_ diff --git a/control/pure_pursuit/launch/pure_pursuit.launch.xml b/control/autoware_pure_pursuit/launch/pure_pursuit.launch.xml similarity index 100% rename from control/pure_pursuit/launch/pure_pursuit.launch.xml rename to control/autoware_pure_pursuit/launch/pure_pursuit.launch.xml diff --git a/control/pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml similarity index 97% rename from control/pure_pursuit/package.xml rename to control/autoware_pure_pursuit/package.xml index ab3097c914b00..138eda06926b5 100644 --- a/control/pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -1,7 +1,7 @@ - pure_pursuit + autoware_pure_pursuit 0.1.0 The pure_pursuit package Takamasa Horibe diff --git a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp similarity index 97% rename from control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp index eddcdb5e362df..ba1d97bf66d28 100644 --- a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp @@ -28,11 +28,11 @@ * limitations under the License. */ -#include "pure_pursuit/pure_pursuit_lateral_controller.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp" -#include "pure_pursuit/pure_pursuit_viz.hpp" -#include "pure_pursuit/util/planning_utils.hpp" -#include "pure_pursuit/util/tf_utils.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp" +#include "autoware_pure_pursuit/util/planning_utils.hpp" +#include "autoware_pure_pursuit/util/tf_utils.hpp" #include @@ -54,7 +54,7 @@ enum TYPE { }; } // namespace -namespace pure_pursuit +namespace autoware::pure_pursuit { PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node) : clock_(node.get_clock()), @@ -261,7 +261,7 @@ void PurePursuitLateralController::averageFilterTrajectory( p.heading_rate_rps = tmp.heading_rate_rps / count; p.lateral_velocity_mps = tmp.lateral_velocity_mps / count; p.rear_wheel_angle_rad = tmp.rear_wheel_angle_rad / count; - p.pose.orientation = pure_pursuit::planning_utils::getQuaternionFromYaw(yaw / count); + p.pose.orientation = autoware::pure_pursuit::planning_utils::getQuaternionFromYaw(yaw / count); } trajectory_resampled_ = std::make_shared(filtered_trajectory); } @@ -487,4 +487,4 @@ boost::optional PurePursuitLateralController::calcTargetCurvature( return output; } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit diff --git a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_node.cpp similarity index 94% rename from control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_node.cpp index 7fadd3b4ced8f..23ce643e18eed 100644 --- a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_node.cpp @@ -28,11 +28,11 @@ * limitations under the License. */ -#include "pure_pursuit/pure_pursuit_node.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_node.hpp" -#include "pure_pursuit/pure_pursuit_viz.hpp" -#include "pure_pursuit/util/planning_utils.hpp" -#include "pure_pursuit/util/tf_utils.hpp" +#include "autoware_pure_pursuit/pure_pursuit_viz.hpp" +#include "autoware_pure_pursuit/util/planning_utils.hpp" +#include "autoware_pure_pursuit/util/tf_utils.hpp" #include @@ -51,7 +51,7 @@ double calcLookaheadDistance( } // namespace -namespace pure_pursuit +namespace autoware::pure_pursuit { PurePursuitNode::PurePursuitNode(const rclcpp::NodeOptions & node_options) : Node("pure_pursuit", node_options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) @@ -208,7 +208,7 @@ boost::optional PurePursuitNode::c return trajectory_->points.at(closest_idx_result.second); } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit #include -RCLCPP_COMPONENTS_REGISTER_NODE(pure_pursuit::PurePursuitNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pure_pursuit::PurePursuitNode) diff --git a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_viz.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_viz.cpp similarity index 86% rename from control/pure_pursuit/src/pure_pursuit/pure_pursuit_viz.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_viz.cpp index 1778bc6fbe79f..0a2f5fd92a0eb 100644 --- a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_viz.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_viz.cpp @@ -28,10 +28,10 @@ * limitations under the License. */ -#include "pure_pursuit/pure_pursuit_viz.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp" -#include "pure_pursuit/util/marker_helper.hpp" -#include "pure_pursuit/util/planning_utils.hpp" +#include "autoware_pure_pursuit/util/marker_helper.hpp" +#include "autoware_pure_pursuit/util/planning_utils.hpp" #include @@ -43,7 +43,7 @@ std::vector generateTrajectoryCircle( constexpr double theta_range = M_PI / 10; constexpr double step_rad = 0.005; - const double radius = pure_pursuit::planning_utils::calcRadius(target, current_pose); + const double radius = autoware::pure_pursuit::planning_utils::calcRadius(target, current_pose); std::vector trajectory_circle; for (double theta = -theta_range; theta <= theta_range; theta += step_rad) { @@ -53,7 +53,7 @@ std::vector generateTrajectoryCircle( p.z = target.z; trajectory_circle.push_back( - pure_pursuit::planning_utils::transformToAbsoluteCoordinate2D(p, current_pose)); + autoware::pure_pursuit::planning_utils::transformToAbsoluteCoordinate2D(p, current_pose)); } return trajectory_circle; @@ -61,7 +61,7 @@ std::vector generateTrajectoryCircle( } // namespace -namespace pure_pursuit +namespace autoware::pure_pursuit { visualization_msgs::msg::Marker createNextTargetMarker( const geometry_msgs::msg::Point & next_target) @@ -90,4 +90,4 @@ visualization_msgs::msg::Marker createTrajectoryCircleMarker( return marker; } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit diff --git a/control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp similarity index 97% rename from control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp index 0ee96e970782c..25a3334eb26f8 100644 --- a/control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp @@ -27,16 +27,16 @@ * limitations under the License. */ -#include "pure_pursuit/pure_pursuit.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit.hpp" -#include "pure_pursuit/util/planning_utils.hpp" +#include "autoware_pure_pursuit/util/planning_utils.hpp" #include #include #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { bool PurePursuit::isDataReady() { @@ -209,4 +209,4 @@ void PurePursuit::setWaypoints(const std::vector & msg *curr_wps_ptr_ = msg; } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit diff --git a/control/pure_pursuit/src/pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp similarity index 98% rename from control/pure_pursuit/src/pure_pursuit_core/interpolate.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp index 8890e0c7da25d..8d7078c87cf39 100644 --- a/control/pure_pursuit/src/pure_pursuit_core/interpolate.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pure_pursuit/util/interpolate.hpp" +#include "autoware_pure_pursuit/util/interpolate.hpp" #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { bool LinearInterpolate::interpolate( const std::vector & base_index, const std::vector & base_value, @@ -234,4 +234,4 @@ bool SplineInterpolate::interpolate( } return true; } -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit diff --git a/control/pure_pursuit/src/pure_pursuit_core/planning_utils.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp similarity index 98% rename from control/pure_pursuit/src/pure_pursuit_core/planning_utils.cpp rename to control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp index b3a846157638a..bed6fafcf5bfd 100644 --- a/control/pure_pursuit/src/pure_pursuit_core/planning_utils.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pure_pursuit/util/planning_utils.hpp" +#include "autoware_pure_pursuit/util/planning_utils.hpp" #include #include #include -namespace pure_pursuit +namespace autoware::pure_pursuit { namespace planning_utils { @@ -266,4 +266,4 @@ geometry_msgs::msg::Quaternion getQuaternionFromYaw(const double _yaw) } } // namespace planning_utils -} // namespace pure_pursuit +} // namespace autoware::pure_pursuit diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 833a159ca708c..746815f1ea011 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -26,9 +26,9 @@ autoware_planning_msgs autoware_trajectory_follower_base autoware_vehicle_info_utils + autoware_pure_pursuit autoware_vehicle_msgs motion_utils - pure_pursuit rclcpp rclcpp_components tier4_autoware_utils diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index 78dd6801e82fe..09a8bd4e9506d 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -16,7 +16,7 @@ #include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp" #include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp" -#include "pure_pursuit/pure_pursuit_lateral_controller.hpp" +#include "autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp" #include "tier4_autoware_utils/ros/marker_helper.hpp" #include @@ -43,7 +43,8 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control break; } case LateralControllerMode::PURE_PURSUIT: { - lateral_controller_ = std::make_shared(*this); + lateral_controller_ = + std::make_shared(*this); break; } default: diff --git a/control/pure_pursuit/CMakeLists.txt b/control/pure_pursuit/CMakeLists.txt deleted file mode 100644 index b1c73d5397f07..0000000000000 --- a/control/pure_pursuit/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(pure_pursuit) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Eigen3 REQUIRED) - -include_directories( - SYSTEM - ${EIGEN3_INCLUDE_DIRS} -) - -# pure_pursuit_core -ament_auto_add_library(pure_pursuit_core SHARED - src/pure_pursuit_core/planning_utils.cpp - src/pure_pursuit_core/pure_pursuit.cpp - src/pure_pursuit_core/interpolate.cpp -) - -# pure_pursuit -ament_auto_add_library(pure_pursuit_lateral_controller SHARED - src/pure_pursuit/pure_pursuit_lateral_controller.cpp - src/pure_pursuit/pure_pursuit_viz.cpp -) - -target_link_libraries(pure_pursuit_lateral_controller - pure_pursuit_core -) - -rclcpp_components_register_node(pure_pursuit_lateral_controller - PLUGIN "pure_pursuit::PurePursuitLateralController" - EXECUTABLE pure_pursuit_lateral_controller_exe -) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) From 90543cadc828c4df64533436d1adb73960352558 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Tue, 11 Jun 2024 16:25:16 +0900 Subject: [PATCH 2/2] fix precommit Signed-off-by: Muhammad Zulfaqar Azmi --- .../autoware_pure_pursuit_lateral_controller.hpp | 2 +- control/autoware_trajectory_follower_node/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp index c47561ce38236..f5c6ff50712eb 100644 --- a/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp +++ b/control/autoware_pure_pursuit/include/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp @@ -30,9 +30,9 @@ #ifndef AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ #define AUTOWARE_PURE_PURSUIT__AUTOWARE_PURE_PURSUIT_LATERAL_CONTROLLER_HPP_ -#include "autoware_trajectory_follower_base/lateral_controller_base.hpp" #include "autoware_pure_pursuit/autoware_pure_pursuit.hpp" #include "autoware_pure_pursuit/autoware_pure_pursuit_viz.hpp" +#include "autoware_trajectory_follower_base/lateral_controller_base.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 746815f1ea011..0726b919d387e 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -24,9 +24,9 @@ autoware_mpc_lateral_controller autoware_pid_longitudinal_controller autoware_planning_msgs + autoware_pure_pursuit autoware_trajectory_follower_base autoware_vehicle_info_utils - autoware_pure_pursuit autoware_vehicle_msgs motion_utils rclcpp