From fc9149ef50b541b7e44d06776f38ccd18bb39426 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos-Tsunekawa Date: Fri, 26 Jul 2024 18:24:39 +0900 Subject: [PATCH 1/2] chore: refactored the imu corrector into the autoware namespace Signed-off-by: Kenzo Lobos-Tsunekawa --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 12 ++++++------ .../README.md | 2 +- .../config/gyro_bias_estimator.param.yaml | 0 .../config/imu_corrector.param.yaml | 0 .../gyro_bias_estimation_module.hpp | 10 +++++----- .../imu_corrector}/gyro_bias_estimator.hpp | 14 +++++++------- .../imu_corrector}/imu_corrector_core.hpp | 15 +++++++-------- .../launch/gyro_bias_estimator.launch.xml | 6 +++--- .../launch/imu_corrector.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/imu_corrector.json | 0 .../src/gyro_bias_estimation_module.cpp | 9 ++++----- .../src/gyro_bias_estimator.cpp | 10 +++++----- .../src/imu_corrector_core.cpp | 8 ++++---- .../test/test_gyro_bias_estimation_module.cpp | 6 +++--- 16 files changed, 50 insertions(+), 52 deletions(-) rename sensing/{imu_corrector => autoware_imu_corrector}/CMakeLists.txt (79%) rename sensing/{imu_corrector => autoware_imu_corrector}/README.md (99%) rename sensing/{imu_corrector => autoware_imu_corrector}/config/gyro_bias_estimator.param.yaml (100%) rename sensing/{imu_corrector => autoware_imu_corrector}/config/imu_corrector.param.yaml (100%) rename sensing/{imu_corrector/src => autoware_imu_corrector/include/autoware/imu_corrector}/gyro_bias_estimation_module.hpp (80%) rename sensing/{imu_corrector/src => autoware_imu_corrector/include/autoware/imu_corrector}/gyro_bias_estimator.hpp (89%) rename sensing/{imu_corrector/src => autoware_imu_corrector/include/autoware/imu_corrector}/imu_corrector_core.hpp (81%) rename sensing/{imu_corrector => autoware_imu_corrector}/launch/gyro_bias_estimator.launch.xml (74%) rename sensing/{imu_corrector => autoware_imu_corrector}/launch/imu_corrector.launch.xml (61%) rename sensing/{imu_corrector => autoware_imu_corrector}/package.xml (90%) rename sensing/{imu_corrector => autoware_imu_corrector}/schema/imu_corrector.json (100%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimation_module.cpp (95%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimator.cpp (97%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/imu_corrector_core.cpp (96%) rename sensing/{imu_corrector => autoware_imu_corrector}/test/test_gyro_bias_estimation_module.cpp (94%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 8ee971698743a..225a0bde4e597 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -201,8 +201,8 @@ planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp +sensing/autoware_imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp -sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp diff --git a/sensing/imu_corrector/CMakeLists.txt b/sensing/autoware_imu_corrector/CMakeLists.txt similarity index 79% rename from sensing/imu_corrector/CMakeLists.txt rename to sensing/autoware_imu_corrector/CMakeLists.txt index b3be5be12b75d..5e417ce94597a 100644 --- a/sensing/imu_corrector/CMakeLists.txt +++ b/sensing/autoware_imu_corrector/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.14) -project(imu_corrector) +project(autoware_imu_corrector) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(${PROJECT_NAME} SHARED +ament_auto_add_library(imu_corrector SHARED src/imu_corrector_core.cpp ) @@ -13,14 +13,14 @@ ament_auto_add_library(gyro_bias_estimator SHARED src/gyro_bias_estimation_module.cpp ) -rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "imu_corrector::ImuCorrector" - EXECUTABLE ${PROJECT_NAME}_node +rclcpp_components_register_node(imu_corrector + PLUGIN "autoware::imu_corrector::ImuCorrector" + EXECUTABLE imu_corrector_node EXECUTOR SingleThreadedExecutor ) rclcpp_components_register_node(gyro_bias_estimator - PLUGIN "imu_corrector::GyroBiasEstimator" + PLUGIN "autoware::imu_corrector::GyroBiasEstimator" EXECUTABLE gyro_bias_estimator_node EXECUTOR SingleThreadedExecutor ) diff --git a/sensing/imu_corrector/README.md b/sensing/autoware_imu_corrector/README.md similarity index 99% rename from sensing/imu_corrector/README.md rename to sensing/autoware_imu_corrector/README.md index 2df12c94b7d3b..805c20c0cb35c 100644 --- a/sensing/imu_corrector/README.md +++ b/sensing/autoware_imu_corrector/README.md @@ -1,4 +1,4 @@ -# imu_corrector +# autoware_imu_corrector ## imu_corrector diff --git a/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml b/sensing/autoware_imu_corrector/config/gyro_bias_estimator.param.yaml similarity index 100% rename from sensing/imu_corrector/config/gyro_bias_estimator.param.yaml rename to sensing/autoware_imu_corrector/config/gyro_bias_estimator.param.yaml diff --git a/sensing/imu_corrector/config/imu_corrector.param.yaml b/sensing/autoware_imu_corrector/config/imu_corrector.param.yaml similarity index 100% rename from sensing/imu_corrector/config/imu_corrector.param.yaml rename to sensing/autoware_imu_corrector/config/imu_corrector.param.yaml diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp similarity index 80% rename from sensing/imu_corrector/src/gyro_bias_estimation_module.hpp rename to sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp index 9eff50d296a95..ac73d65f71f9a 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp +++ b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GYRO_BIAS_ESTIMATION_MODULE_HPP_ -#define GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#ifndef AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#define AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ #include #include @@ -22,7 +22,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimationModule { @@ -36,6 +36,6 @@ class GyroBiasEstimationModule private: std::pair gyro_bias_pair_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector -#endif // GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#endif // AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.hpp b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp similarity index 89% rename from sensing/imu_corrector/src/gyro_bias_estimator.hpp rename to sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp index 1313f2cb06507..1f781ac56e3fb 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.hpp +++ b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp @@ -11,12 +11,12 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GYRO_BIAS_ESTIMATOR_HPP_ -#define GYRO_BIAS_ESTIMATOR_HPP_ +#ifndef AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ +#define AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ -#include "autoware/universe_utils/ros/transform_listener.hpp" -#include "gyro_bias_estimation_module.hpp" +#include "autoware/imu_corrector/gyro_bias_estimation_module.hpp" +#include #include #include @@ -30,7 +30,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimator : public rclcpp::Node { @@ -97,6 +97,6 @@ class GyroBiasEstimator : public rclcpp::Node DiagnosticsInfo diagnostics_info_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector -#endif // GYRO_BIAS_ESTIMATOR_HPP_ +#endif // AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ diff --git a/sensing/imu_corrector/src/imu_corrector_core.hpp b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp similarity index 81% rename from sensing/imu_corrector/src/imu_corrector_core.hpp rename to sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp index c02aa88a313a7..0acf47ae2c8b2 100644 --- a/sensing/imu_corrector/src/imu_corrector_core.hpp +++ b/sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp @@ -11,12 +11,11 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMU_CORRECTOR_CORE_HPP_ -#define IMU_CORRECTOR_CORE_HPP_ - -#include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "autoware/universe_utils/ros/transform_listener.hpp" +#ifndef AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ +#define AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ +#include +#include #include #include @@ -27,7 +26,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class ImuCorrector : public rclcpp::Node { @@ -57,6 +56,6 @@ class ImuCorrector : public rclcpp::Node std::string output_frame_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector -#endif // IMU_CORRECTOR_CORE_HPP_ +#endif // AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ diff --git a/sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml b/sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml similarity index 74% rename from sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml rename to sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml index 100168b17171a..774b8f14f9501 100644 --- a/sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml +++ b/sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml @@ -3,10 +3,10 @@ - - + + - + diff --git a/sensing/imu_corrector/launch/imu_corrector.launch.xml b/sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml similarity index 61% rename from sensing/imu_corrector/launch/imu_corrector.launch.xml rename to sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml index 8430f2a50a85c..456ce58750658 100755 --- a/sensing/imu_corrector/launch/imu_corrector.launch.xml +++ b/sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml @@ -2,9 +2,9 @@ - + - + diff --git a/sensing/imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml similarity index 90% rename from sensing/imu_corrector/package.xml rename to sensing/autoware_imu_corrector/package.xml index f5c719d2b4f7e..4869b5566ea05 100644 --- a/sensing/imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -1,9 +1,9 @@ - imu_corrector + autoware_imu_corrector 1.0.0 - The ROS 2 imu_corrector package + The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada Apache License 2.0 diff --git a/sensing/imu_corrector/schema/imu_corrector.json b/sensing/autoware_imu_corrector/schema/imu_corrector.json similarity index 100% rename from sensing/imu_corrector/schema/imu_corrector.json rename to sensing/autoware_imu_corrector/schema/imu_corrector.json diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp similarity index 95% rename from sensing/imu_corrector/src/gyro_bias_estimation_module.cpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp index 7bd6b38490495..dc6866996eb2d 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp @@ -12,13 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gyro_bias_estimation_module.hpp" - -#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/imu_corrector/gyro_bias_estimation_module.hpp" +#include #include -namespace imu_corrector +namespace autoware::imu_corrector { /** @@ -116,4 +115,4 @@ geometry_msgs::msg::Vector3 GyroBiasEstimationModule::get_bias_base_link() const return gyro_bias_base; } -} // namespace imu_corrector +} // namespace autoware::imu_corrector diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp similarity index 97% rename from sensing/imu_corrector/src/gyro_bias_estimator.cpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp index 6882fbf068fd1..4f765816bcebe 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gyro_bias_estimator.hpp" +#include "autoware/imu_corrector/gyro_bias_estimator.hpp" -#include "autoware/universe_utils/geometry/geometry.hpp" +#include #include #include #include -namespace imu_corrector +namespace autoware::imu_corrector { GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options) : rclcpp::Node("gyro_bias_validator", options), @@ -243,7 +243,7 @@ void GyroBiasEstimator::update_diagnostics(diagnostic_updater::DiagnosticStatusW stat.add("gyro_bias_threshold", f(gyro_bias_threshold_)); } -} // namespace imu_corrector +} // namespace autoware::imu_corrector #include -RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::GyroBiasEstimator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::GyroBiasEstimator) diff --git a/sensing/imu_corrector/src/imu_corrector_core.cpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp similarity index 96% rename from sensing/imu_corrector/src/imu_corrector_core.cpp rename to sensing/autoware_imu_corrector/src/imu_corrector_core.cpp index c6e12d2481f89..4e23afcab0c8d 100644 --- a/sensing/imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "imu_corrector_core.hpp" +#include "autoware/imu_corrector/imu_corrector_core.hpp" #ifdef ROS_DISTRO_GALACTIC #include @@ -51,7 +51,7 @@ geometry_msgs::msg::Vector3 transform_vector3( return vec_stamped_transformed.vector; } -namespace imu_corrector +namespace autoware::imu_corrector { ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & options) : rclcpp::Node("imu_corrector", options), @@ -124,7 +124,7 @@ void ImuCorrector::callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_ imu_pub_->publish(imu_msg_base_link); } -} // namespace imu_corrector +} // namespace autoware::imu_corrector #include -RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::ImuCorrector) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::ImuCorrector) diff --git a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp similarity index 94% rename from sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp rename to sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp index 257552e15cbab..31adc46dd56ea 100644 --- a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "../src/gyro_bias_estimation_module.hpp" +#include "../include/autoware/imu_corrector/gyro_bias_estimation_module.hpp" #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimationModuleTest : public ::testing::Test { @@ -88,4 +88,4 @@ TEST_F(GyroBiasEstimationModuleTest, GetInsufficientDataExceptionWhenVehicleMovi ASSERT_THROW(module.update_bias(pose_list, gyro_list), std::runtime_error); } } -} // namespace imu_corrector +} // namespace autoware::imu_corrector From 82b3c534fcc1f1b7df808c6b1d5fa6f6acd77173 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos-Tsunekawa Date: Fri, 2 Aug 2024 06:54:07 +0900 Subject: [PATCH 2/2] chore: reverted to non-exported includes Signed-off-by: Kenzo Lobos-Tsunekawa --- .../src/gyro_bias_estimation_module.cpp | 2 +- .../imu_corrector => src}/gyro_bias_estimation_module.hpp | 6 +++--- .../autoware_imu_corrector/src/gyro_bias_estimator.cpp | 2 +- .../imu_corrector => src}/gyro_bias_estimator.hpp | 8 ++++---- sensing/autoware_imu_corrector/src/imu_corrector_core.cpp | 2 +- .../autoware/imu_corrector => src}/imu_corrector_core.hpp | 6 +++--- .../test/test_gyro_bias_estimation_module.cpp | 2 +- 7 files changed, 14 insertions(+), 14 deletions(-) rename sensing/autoware_imu_corrector/{include/autoware/imu_corrector => src}/gyro_bias_estimation_module.hpp (85%) rename sensing/autoware_imu_corrector/{include/autoware/imu_corrector => src}/gyro_bias_estimator.hpp (93%) rename sensing/autoware_imu_corrector/{include/autoware/imu_corrector => src}/imu_corrector_core.hpp (91%) diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp index dc6866996eb2d..18d7965470f05 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/imu_corrector/gyro_bias_estimation_module.hpp" +#include "gyro_bias_estimation_module.hpp" #include #include diff --git a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp similarity index 85% rename from sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp index ac73d65f71f9a..ed166e4daf63c 100644 --- a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimation_module.hpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ -#define AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#ifndef GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#define GYRO_BIAS_ESTIMATION_MODULE_HPP_ #include #include @@ -38,4 +38,4 @@ class GyroBiasEstimationModule }; } // namespace autoware::imu_corrector -#endif // AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATION_MODULE_HPP_ +#endif // GYRO_BIAS_ESTIMATION_MODULE_HPP_ diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp index 4f765816bcebe..ec91311455911 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/imu_corrector/gyro_bias_estimator.hpp" +#include "gyro_bias_estimator.hpp" #include diff --git a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp similarity index 93% rename from sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp index 1f781ac56e3fb..68539a2181fd3 100644 --- a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/gyro_bias_estimator.hpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp @@ -11,10 +11,10 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ -#define AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ +#ifndef GYRO_BIAS_ESTIMATOR_HPP_ +#define GYRO_BIAS_ESTIMATOR_HPP_ -#include "autoware/imu_corrector/gyro_bias_estimation_module.hpp" +#include "gyro_bias_estimation_module.hpp" #include #include @@ -99,4 +99,4 @@ class GyroBiasEstimator : public rclcpp::Node }; } // namespace autoware::imu_corrector -#endif // AUTOWARE__IMU_CORRECTOR__GYRO_BIAS_ESTIMATOR_HPP_ +#endif // GYRO_BIAS_ESTIMATOR_HPP_ diff --git a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp index 4e23afcab0c8d..a9acb45888945 100644 --- a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/imu_corrector/imu_corrector_core.hpp" +#include "imu_corrector_core.hpp" #ifdef ROS_DISTRO_GALACTIC #include diff --git a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.hpp similarity index 91% rename from sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp rename to sensing/autoware_imu_corrector/src/imu_corrector_core.hpp index 0acf47ae2c8b2..0c4839f6b5290 100644 --- a/sensing/autoware_imu_corrector/include/autoware/imu_corrector/imu_corrector_core.hpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ -#define AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ +#ifndef IMU_CORRECTOR_CORE_HPP_ +#define IMU_CORRECTOR_CORE_HPP_ #include #include @@ -58,4 +58,4 @@ class ImuCorrector : public rclcpp::Node }; } // namespace autoware::imu_corrector -#endif // AUTOWARE__IMU_CORRECTOR__IMU_CORRECTOR_CORE_HPP_ +#endif // IMU_CORRECTOR_CORE_HPP_ diff --git a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp index 31adc46dd56ea..573dbe84d6027 100644 --- a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "../include/autoware/imu_corrector/gyro_bias_estimation_module.hpp" +#include "../src/gyro_bias_estimation_module.hpp" #include