refactor(pure_pursuit): prefix package and namespace with autoware_

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
+)

control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp → 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 <rclcpp/rclcpp.hpp>
 
@@ -42,7 +42,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-namespace pure_pursuit
+namespace autoware::pure_pursuit
 {
 class PurePursuit
 {
@@ -83,6 +83,6 @@ class PurePursuit
   std::pair<bool, geometry_msgs::msg::Point> 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_

control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp → 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_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 "pure_pursuit/pure_pursuit.hpp"
-#include "pure_pursuit/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_

control/pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp → 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 <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
@@ -50,7 +50,7 @@
 
 #include <memory>
 
-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_

control/pure_pursuit/include/pure_pursuit/pure_pursuit_viz.hpp → 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 <geometry_msgs/msg/pose_stamped.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <vector>
-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_

control/pure_pursuit/include/pure_pursuit/util/interpolate.hpp → 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 <cmath>
 #include <iostream>
 #include <vector>
 
-namespace pure_pursuit
+namespace autoware::pure_pursuit
 {
 class LinearInterpolate
 {
@@ -50,6 +50,6 @@ class SplineInterpolate
     const std::vector<double> & return_index, std::vector<double> & return_value);
   void getValueVector(const std::vector<double> & s_v, std::vector<double> & value_v);
 };
-}  // namespace pure_pursuit
+}  // namespace autoware::pure_pursuit
 
-#endif  // PURE_PURSUIT__UTIL__INTERPOLATE_HPP_
+#endif  // AUTOWARE_PURE_PURSUIT__UTIL__INTERPOLATE_HPP_

control/pure_pursuit/include/pure_pursuit/util/marker_helper.hpp → control/autoware_pure_pursuit/include/autoware_pure_pursuit/util/marker_helper.hpp

@@ -12,16 +12,16 @@
 // 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 <rclcpp/rclcpp.hpp>
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <string>
 
-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_

control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp → 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_

control/pure_pursuit/include/pure_pursuit/util/tf_utils.hpp → 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 <rclcpp/rclcpp.hpp>
 
@@ -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<geometry_msgs::msg::PoseStamped> 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_

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

control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp → 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 <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
@@ -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<Trajectory>(filtered_trajectory);
 }
@@ -487,4 +487,4 @@ boost::optional<PpOutput> PurePursuitLateralController::calcTargetCurvature(
 
   return output;
 }
-}  // namespace pure_pursuit
+}  // namespace autoware::pure_pursuit

control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp → 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 <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
@@ -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<autoware_planning_msgs::msg::TrajectoryPoint> PurePursuitNode::c
 
   return trajectory_->points.at(closest_idx_result.second);
 }
-}  // namespace pure_pursuit
+}  // namespace autoware::pure_pursuit
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(pure_pursuit::PurePursuitNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pure_pursuit::PurePursuitNode)