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refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure #7748

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merged 1 commit into from
Jul 4, 2024
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refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure #7748

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2 changes: 1 addition & 1 deletion ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
components.append(
ComposableNode(
package="occupancy_grid_map_outlier_filter",
plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
plugin="autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
name="occupancy_grid_based_outlier_filter",
remappings=[
("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
Expand Down
13 changes: 6 additions & 7 deletions perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
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Expand Up @@ -8,7 +8,6 @@ find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)
find_package(PCL REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(OpenMP)
ament_auto_find_build_dependencies()

Expand All @@ -22,26 +21,26 @@ include_directories(
${GRID_MAP_INCLUDE_DIR}
)

ament_auto_add_library(occupancy_grid_map_outlier_filter SHARED
src/occupancy_grid_map_outlier_filter_nodelet.cpp
ament_auto_add_library(${PROJECT_NAME} SHARED
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src/occupancy_grid_map_outlier_filter_node.cpp
)

target_link_libraries(occupancy_grid_map_outlier_filter
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)

if(OPENMP_FOUND)
set_target_properties(occupancy_grid_map_outlier_filter PROPERTIES
set_target_properties(${PROJECT_NAME} PROPERTIES
COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
LINK_FLAGS ${OpenMP_CXX_FLAGS}
)
endif()

# -- Occupancy Grid Map Outlier Filter --
rclcpp_components_register_node(occupancy_grid_map_outlier_filter
PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
EXECUTABLE occupancy_grid_map_outlier_filter_node)

ament_auto_package(INSTALL_TO_SHARE)
9 changes: 0 additions & 9 deletions perception/occupancy_grid_map_outlier_filter/package.xml
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Expand Up @@ -19,27 +19,18 @@

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>image_transport</depend>
<depend>libopencv-dev</depend>
<depend>libpcl-all-dev</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_msgs</depend>
<depend>pcl_ros</depend>
<depend>pointcloud_preprocessor</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_pcl_extensions</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
15 changes: 8 additions & 7 deletions ...pancy_grid_map_outlier_filter_nodelet.cpp → ...ccupancy_grid_map_outlier_filter_node.cpp
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Expand Up @@ -12,11 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp"
#include "occupancy_grid_map_outlier_filter_node.hpp"

#include "autoware/universe_utils/geometry/geometry.hpp"
#include "autoware/universe_utils/ros/debug_publisher.hpp"
#include "autoware/universe_utils/system/stop_watch.hpp"

#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware/universe_utils/ros/debug_publisher.hpp>
#include <autoware/universe_utils/system/stop_watch.hpp>
#include <pcl_ros/transforms.hpp>

#include <boost/optional.hpp>
Expand Down Expand Up @@ -101,7 +102,7 @@ boost::optional<char> getCost(

} // namespace

namespace occupancy_grid_map_outlier_filter
namespace autoware::occupancy_grid_map_outlier_filter
{
RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node)
{
Expand Down Expand Up @@ -489,8 +490,8 @@ void OccupancyGridMapOutlierFilterComponent::Debugger::transformToBaseLink(
transformPointcloud(ros_input, *(node_.tf2_), node_.base_link_frame_, output);
}

} // namespace occupancy_grid_map_outlier_filter
} // namespace autoware::occupancy_grid_map_outlier_filter

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(
occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent)
autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent)
12 changes: 6 additions & 6 deletions ...pancy_grid_map_outlier_filter_nodelet.hpp → ...ccupancy_grid_map_outlier_filter_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_
#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_

#include "autoware/universe_utils/ros/published_time_publisher.hpp"
#include "pointcloud_preprocessor/filter.hpp"

#include <autoware/universe_utils/ros/published_time_publisher.hpp>
#include <pcl/common/impl/common.hpp>
#include <rclcpp/rclcpp.hpp>

Expand All @@ -40,7 +40,7 @@
#include <memory>
#include <string>

namespace occupancy_grid_map_outlier_filter
namespace autoware::occupancy_grid_map_outlier_filter
{
using geometry_msgs::msg::Pose;
using nav_msgs::msg::OccupancyGrid;
Expand Down Expand Up @@ -129,6 +129,6 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node
std::string base_link_frame_;
int cost_threshold_;
};
} // namespace occupancy_grid_map_outlier_filter
} // namespace autoware::occupancy_grid_map_outlier_filter

#endif // OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
#endif // OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_
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