From fc0006715e3d7c428f4a925b2c26b21c49c836ce Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 24 Jun 2024 14:56:58 +0900 Subject: [PATCH 1/6] refactor: refactor object_range_splitter library and node Signed-off-by: Taekjin LEE --- perception/object_range_splitter/CMakeLists.txt | 8 ++++---- .../{ => autoware}/object_range_splitter/node.hpp | 12 ++++++------ perception/object_range_splitter/src/node.cpp | 8 ++++---- 3 files changed, 14 insertions(+), 14 deletions(-) rename perception/object_range_splitter/include/{ => autoware}/object_range_splitter/node.hpp (80%) diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt index 92c6c0668a085..1b1f48492a2c0 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/object_range_splitter/CMakeLists.txt @@ -4,13 +4,13 @@ project(object_range_splitter) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(object_range_splitter SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/node.cpp ) -rclcpp_components_register_node(object_range_splitter - PLUGIN "object_range_splitter::ObjectRangeSplitterNode" - EXECUTABLE object_range_splitter_node +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::object_range_splitter::ObjectRangeSplitterNode" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package( diff --git a/perception/object_range_splitter/include/object_range_splitter/node.hpp b/perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp similarity index 80% rename from perception/object_range_splitter/include/object_range_splitter/node.hpp rename to perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp index a4dbb2fb634aa..000741db99f03 100644 --- a/perception/object_range_splitter/include/object_range_splitter/node.hpp +++ b/perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RANGE_SPLITTER__NODE_HPP_ -#define OBJECT_RANGE_SPLITTER__NODE_HPP_ +#ifndef AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ +#define AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ #include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include -namespace object_range_splitter +namespace autoware::object_range_splitter { class ObjectRangeSplitterNode : public rclcpp::Node { @@ -42,6 +42,6 @@ class ObjectRangeSplitterNode : public rclcpp::Node float spilt_range_; }; -} // namespace object_range_splitter +} // namespace autoware::object_range_splitter -#endif // OBJECT_RANGE_SPLITTER__NODE_HPP_ +#endif // AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ diff --git a/perception/object_range_splitter/src/node.cpp b/perception/object_range_splitter/src/node.cpp index 978c40275fb9b..d840216e861f3 100644 --- a/perception/object_range_splitter/src/node.cpp +++ b/perception/object_range_splitter/src/node.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_range_splitter/node.hpp" +#include "autoware/object_range_splitter/node.hpp" -namespace object_range_splitter +namespace autoware::object_range_splitter { ObjectRangeSplitterNode::ObjectRangeSplitterNode(const rclcpp::NodeOptions & node_options) : Node("object_range_splitter_node", node_options) @@ -59,7 +59,7 @@ void ObjectRangeSplitterNode::objectCallback( long_range_object_pub_->publish(output_long_range_object_msg); short_range_object_pub_->publish(output_short_range_object_msg); } -} // namespace object_range_splitter +} // namespace autoware::object_range_splitter #include -RCLCPP_COMPONENTS_REGISTER_NODE(object_range_splitter::ObjectRangeSplitterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::object_range_splitter::ObjectRangeSplitterNode) From 424c5a7bb0c18c4cc0898e4345b0ed06ef4c1b8e Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 24 Jun 2024 16:44:46 +0900 Subject: [PATCH 2/6] refactor: refactor object_range_splitter library and node Signed-off-by: Taekjin LEE --- perception/object_range_splitter/CMakeLists.txt | 2 +- .../{node.hpp => object_range_splitter_node.hpp} | 6 +++--- .../src/{node.cpp => object_range_splitter_node.cpp} | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) rename perception/object_range_splitter/include/autoware/object_range_splitter/{node.hpp => object_range_splitter_node.hpp} (86%) rename perception/object_range_splitter/src/{node.cpp => object_range_splitter_node.cpp} (97%) diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt index 1b1f48492a2c0..be19c717bf6fd 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/object_range_splitter/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED - src/node.cpp + src/object_range_splitter_node.cpp ) rclcpp_components_register_node(${PROJECT_NAME} diff --git a/perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp b/perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp similarity index 86% rename from perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp rename to perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp index 000741db99f03..688173315da0e 100644 --- a/perception/object_range_splitter/include/autoware/object_range_splitter/node.hpp +++ b/perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ -#define AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ +#ifndef AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#define AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ #include @@ -44,4 +44,4 @@ class ObjectRangeSplitterNode : public rclcpp::Node } // namespace autoware::object_range_splitter -#endif // AUTOWARE__OBJECT_RANGE_SPLITTER__NODE_HPP_ +#endif // AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ diff --git a/perception/object_range_splitter/src/node.cpp b/perception/object_range_splitter/src/object_range_splitter_node.cpp similarity index 97% rename from perception/object_range_splitter/src/node.cpp rename to perception/object_range_splitter/src/object_range_splitter_node.cpp index d840216e861f3..65f40baa34c80 100644 --- a/perception/object_range_splitter/src/node.cpp +++ b/perception/object_range_splitter/src/object_range_splitter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/object_range_splitter/node.hpp" +#include "autoware/object_range_splitter/object_range_splitter_node.hpp" namespace autoware::object_range_splitter { From 69ff98b5f30170748c5d0b72a2ea071cbf9aab74 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 25 Jun 2024 13:58:59 +0900 Subject: [PATCH 3/6] refactor: fix the node name Signed-off-by: Taekjin LEE --- perception/object_range_splitter/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt index be19c717bf6fd..1da71a31b26d0 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/object_range_splitter/CMakeLists.txt @@ -10,7 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::object_range_splitter::ObjectRangeSplitterNode" - EXECUTABLE ${PROJECT_NAME}_node + EXECUTABLE object_range_splitter_node ) ament_auto_package( From 411055284100147e3702aae19807d109c644cb9d Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 25 Jun 2024 18:42:28 +0900 Subject: [PATCH 4/6] refactor: rename include path Signed-off-by: Taekjin LEE --- .../object_range_splitter_node.hpp | 6 +++--- .../src/object_range_splitter_node.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) rename perception/object_range_splitter/include/{autoware/object_range_splitter => autoware_object_range_splitter}/object_range_splitter_node.hpp (86%) diff --git a/perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp b/perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp similarity index 86% rename from perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp rename to perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp index 688173315da0e..cf26edab55596 100644 --- a/perception/object_range_splitter/include/autoware/object_range_splitter/object_range_splitter_node.hpp +++ b/perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ -#define AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#ifndef AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#define AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ #include @@ -44,4 +44,4 @@ class ObjectRangeSplitterNode : public rclcpp::Node } // namespace autoware::object_range_splitter -#endif // AUTOWARE__OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#endif // AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ diff --git a/perception/object_range_splitter/src/object_range_splitter_node.cpp b/perception/object_range_splitter/src/object_range_splitter_node.cpp index 65f40baa34c80..4a9cad69e9283 100644 --- a/perception/object_range_splitter/src/object_range_splitter_node.cpp +++ b/perception/object_range_splitter/src/object_range_splitter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/object_range_splitter/object_range_splitter_node.hpp" +#include "autoware_object_range_splitter/object_range_splitter_node.hpp" namespace autoware::object_range_splitter { From a4d84f8e4805199f11aeca8e38878a7d2395e33d Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 25 Jun 2024 18:44:45 +0900 Subject: [PATCH 5/6] refactor: remove unused dependency on sensor_msgs Signed-off-by: Taekjin LEE --- perception/object_range_splitter/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml index bef3ea76354d1..7fc9245ee894f 100644 --- a/perception/object_range_splitter/package.xml +++ b/perception/object_range_splitter/package.xml @@ -14,7 +14,6 @@ autoware_perception_msgs rclcpp rclcpp_components - sensor_msgs ament_lint_auto autoware_lint_common From 9357ec9641968f4b6f4bccf67ca0562ba7931b5d Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 26 Jun 2024 11:40:13 +0900 Subject: [PATCH 6/6] refactor: move header file to src Signed-off-by: Taekjin LEE --- .../src/object_range_splitter_node.cpp | 2 +- .../object_range_splitter_node.hpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) rename perception/object_range_splitter/{include/autoware_object_range_splitter => src}/object_range_splitter_node.hpp (86%) diff --git a/perception/object_range_splitter/src/object_range_splitter_node.cpp b/perception/object_range_splitter/src/object_range_splitter_node.cpp index 4a9cad69e9283..5d5a4aad70011 100644 --- a/perception/object_range_splitter/src/object_range_splitter_node.cpp +++ b/perception/object_range_splitter/src/object_range_splitter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_object_range_splitter/object_range_splitter_node.hpp" +#include "object_range_splitter_node.hpp" namespace autoware::object_range_splitter { diff --git a/perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp b/perception/object_range_splitter/src/object_range_splitter_node.hpp similarity index 86% rename from perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp rename to perception/object_range_splitter/src/object_range_splitter_node.hpp index cf26edab55596..19e5924272eb9 100644 --- a/perception/object_range_splitter/include/autoware_object_range_splitter/object_range_splitter_node.hpp +++ b/perception/object_range_splitter/src/object_range_splitter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ -#define AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#ifndef OBJECT_RANGE_SPLITTER_NODE_HPP_ +#define OBJECT_RANGE_SPLITTER_NODE_HPP_ #include @@ -44,4 +44,4 @@ class ObjectRangeSplitterNode : public rclcpp::Node } // namespace autoware::object_range_splitter -#endif // AUTOWARE_OBJECT_RANGE_SPLITTER__OBJECT_RANGE_SPLITTER_NODE_HPP_ +#endif // OBJECT_RANGE_SPLITTER_NODE_HPP_