From ab89f3755f4b022bb760752937537f5b74881d82 Mon Sep 17 00:00:00 2001 From: a-maumau Date: Fri, 9 Aug 2024 11:13:16 +0900 Subject: [PATCH 1/2] add autoware_ prefix Signed-off-by: a-maumau --- .github/CODEOWNERS | 2 +- launch/tier4_map_launch/launch/map.launch.xml | 2 +- .../CMakeLists.txt | 4 ++-- .../README.md | 6 +++--- .../config/map_projection_loader.param.yaml | 0 .../docs/map_projector_type.svg | 0 .../load_info_from_lanelet2_map.hpp | 9 ++++++--- .../map_projection_loader/map_projection_loader.hpp | 9 ++++++--- .../launch/map_projection_loader.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/map_projection_loader.schema.json | 0 .../src/load_info_from_lanelet2_map.cpp | 5 ++++- .../src/map_projection_loader.cpp | 9 ++++++--- .../test/data/map_projector_info_local.yaml | 0 .../data/map_projector_info_local_cartesian_utm.yaml | 0 .../test/data/map_projector_info_mgrs.yaml | 0 .../data/map_projector_info_transverse_mercator.yaml | 0 .../test/test_load_info_from_lanelet2_map.cpp | 11 +++++++---- ...st_node_load_local_cartesian_utm_from_yaml.test.py | 8 ++++---- .../test/test_node_load_local_from_yaml.test.py | 8 ++++---- .../test/test_node_load_mgrs_from_yaml.test.py | 8 ++++---- ...st_node_load_transverse_mercator_from_yaml.test.py | 8 ++++---- .../autoware_static_centerline_generator/package.xml | 2 +- .../src/static_centerline_generator_node.cpp | 8 ++++---- 24 files changed, 61 insertions(+), 46 deletions(-) rename map/{map_projection_loader => autoware_map_projection_loader}/CMakeLists.txt (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/README.md (90%) rename map/{map_projection_loader => autoware_map_projection_loader}/config/map_projection_loader.param.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/docs/map_projector_type.svg (100%) rename map/{map_projection_loader/include => autoware_map_projection_loader/include/autoware}/map_projection_loader/load_info_from_lanelet2_map.hpp (76%) rename map/{map_projection_loader/include => autoware_map_projection_loader/include/autoware}/map_projection_loader/map_projection_loader.hpp (80%) rename map/{map_projection_loader => autoware_map_projection_loader}/launch/map_projection_loader.launch.xml (51%) rename map/{map_projection_loader => autoware_map_projection_loader}/package.xml (91%) rename map/{map_projection_loader => autoware_map_projection_loader}/schema/map_projection_loader.schema.json (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/src/load_info_from_lanelet2_map.cpp (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/src/map_projection_loader.cpp (91%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_local.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_local_cartesian_utm.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_mgrs.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_transverse_mercator.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_load_info_from_lanelet2_map.cpp (90%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_local_cartesian_utm_from_yaml.test.py (94%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_local_from_yaml.test.py (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_mgrs_from_yaml.test.py (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_transverse_mercator_from_yaml.test.py (94%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index e338a395482e9..5aa872c9bf79d 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -101,7 +101,7 @@ localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuc localization/yabloc/yabloc_pose_initializer/** 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 map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@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 map/map_loader/** 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 -map/map_projection_loader/** 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 +map/autoware_map_projection_loader/** 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 map/map_tf_generator/** 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 map/util/lanelet2_map_preprocessor/** 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 perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index c58c0848eb5b3..9562d209aad5f 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -59,7 +59,7 @@ - + diff --git a/map/map_projection_loader/CMakeLists.txt b/map/autoware_map_projection_loader/CMakeLists.txt similarity index 93% rename from map/map_projection_loader/CMakeLists.txt rename to map/autoware_map_projection_loader/CMakeLists.txt index 87f519ab22572..19c5a98ec8b46 100644 --- a/map/map_projection_loader/CMakeLists.txt +++ b/map/autoware_map_projection_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_projection_loader) +project(autoware_map_projection_loader) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,7 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "MapProjectionLoader" + PLUGIN "autoware::map_projection_loader::MapProjectionLoader" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/map/map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md similarity index 90% rename from map/map_projection_loader/README.md rename to map/autoware_map_projection_loader/README.md index aa620256d977b..11246c092231e 100644 --- a/map/map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -1,8 +1,8 @@ -# map_projection_loader +# autoware_map_projection_loader ## Feature -`map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating. +`autoware_map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating. This is necessary information especially when you want to convert from global (geoid) to local coordinate or the other way around. - If `map_projector_info_path` DOES exist, this node loads it and publishes the map projection information accordingly. @@ -92,4 +92,4 @@ map_origin: Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`. -{{ json_to_markdown("map/map_projection_loader/schema/map_projection_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_projection_loader/schema/map_projection_loader.schema.json") }} diff --git a/map/map_projection_loader/config/map_projection_loader.param.yaml b/map/autoware_map_projection_loader/config/map_projection_loader.param.yaml similarity index 100% rename from map/map_projection_loader/config/map_projection_loader.param.yaml rename to map/autoware_map_projection_loader/config/map_projection_loader.param.yaml diff --git a/map/map_projection_loader/docs/map_projector_type.svg b/map/autoware_map_projection_loader/docs/map_projector_type.svg similarity index 100% rename from map/map_projection_loader/docs/map_projector_type.svg rename to map/autoware_map_projection_loader/docs/map_projector_type.svg diff --git a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp similarity index 76% rename from map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp index 750b90fe495bd..2f1db14529ad0 100644 --- a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ -#define MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#ifndef AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#define AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ #include #include @@ -24,6 +24,9 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); +} // namespace autoware::map_projection_loader -#endif // MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#endif // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp similarity index 80% rename from map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 05bc6e64e1675..feb7483f37811 100644 --- a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ -#define MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#ifndef AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#define AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ #include "rclcpp/rclcpp.hpp" @@ -22,6 +22,8 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename); @@ -35,5 +37,6 @@ class MapProjectionLoader : public rclcpp::Node using MapProjectorInfo = map_interface::MapProjectorInfo; component_interface_utils::Publisher::SharedPtr publisher_; }; +} // namespace autoware::map_projection_loader -#endif // MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#endif // AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ diff --git a/map/map_projection_loader/launch/map_projection_loader.launch.xml b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml similarity index 51% rename from map/map_projection_loader/launch/map_projection_loader.launch.xml rename to map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml index 13418a7e97423..224598e23d048 100644 --- a/map/map_projection_loader/launch/map_projection_loader.launch.xml +++ b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/map/map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml similarity index 91% rename from map/map_projection_loader/package.xml rename to map/autoware_map_projection_loader/package.xml index c36c22c29a0fd..ca25cbf728d26 100644 --- a/map/map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -1,9 +1,9 @@ - map_projection_loader + autoware_map_projection_loader 0.1.0 - map_projection_loader package as a ROS 2 node + autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/map/map_projection_loader/schema/map_projection_loader.schema.json b/map/autoware_map_projection_loader/schema/map_projection_loader.schema.json similarity index 100% rename from map/map_projection_loader/schema/map_projection_loader.schema.json rename to map/autoware_map_projection_loader/schema/map_projection_loader.schema.json diff --git a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp similarity index 93% rename from map/map_projection_loader/src/load_info_from_lanelet2_map.cpp rename to map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp index 18306e8d39e25..ce4cda5c2c677 100644 --- a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "tier4_map_msgs/msg/map_projector_info.hpp" @@ -23,6 +23,8 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) { lanelet::ErrorMessages errors{}; @@ -58,3 +60,4 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; return msg; } +} // namespace autoware::map_projection_loader diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp similarity index 91% rename from map/map_projection_loader/src/map_projection_loader.cpp rename to map/autoware_map_projection_loader/src/map_projection_loader.cpp index e5b95b613b0d1..18ad425c1fd9a 100644 --- a/map/map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/map_projection_loader.hpp" +#include "autoware/map_projection_loader/map_projection_loader.hpp" -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include @@ -23,6 +23,8 @@ #include #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) { YAML::Node data = YAML::LoadFile(filename); @@ -93,6 +95,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) adaptor.init_pub(publisher_); publisher_->publish(msg); } +} // namespace autoware::map_projection_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_projection_loader::MapProjectionLoader) diff --git a/map/map_projection_loader/test/data/map_projector_info_local.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_local.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_mgrs.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_mgrs.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml diff --git a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp similarity index 90% rename from map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp rename to map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp index 7d66388c1a91e..26658e88682a2 100644 --- a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include #include @@ -92,7 +92,8 @@ TEST(TestLoadFromLanelet2Map, LoadMGRSGrid) save_dummy_mgrs_lanelet2_map(mgrs_coord, output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "MGRS"); @@ -106,7 +107,8 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid) save_dummy_local_lanelet2_map(output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "local"); @@ -119,7 +121,8 @@ TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid) save_dummy_mgrs_lanelet2_map_with_one_zero_point(output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "MGRS"); diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py similarity index 94% rename from map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index 0d0b5cb31afba..495f0092bb01f 100644 --- a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py similarity index 93% rename from map/map_projection_loader/test/test_node_load_local_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py index 6a17ff340b19f..8517f09e2006b 100644 --- a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py similarity index 93% rename from map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index 37cfd9936bf20..ad19e61f9f111 100644 --- a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py similarity index 94% rename from map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index 7bccdc7875454..ed2eb45535089 100644 --- a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 6473c3150dcab..f6ca13c8a687a 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -18,6 +18,7 @@ autoware_behavior_path_planner_common autoware_lanelet2_extension autoware_map_msgs + autoware_map_projection_loader autoware_mission_planner autoware_motion_utils autoware_path_optimizer @@ -32,7 +33,6 @@ global_parameter_loader interpolation map_loader - map_projection_loader osqp_interface rclcpp rclcpp_components diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 4b9c5a73e81bc..475f6ec54c0aa 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -14,6 +14,8 @@ #include "static_centerline_generator_node.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -25,8 +27,6 @@ #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "interpolation/spline_interpolation_points_2d.hpp" #include "map_loader/lanelet2_map_loader_node.hpp" -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" -#include "map_projection_loader/map_projection_loader.hpp" #include "type_alias.hpp" #include "utils.hpp" @@ -370,8 +370,8 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map by the map_loader package map_bin_ptr_ = [&]() -> LaneletMapBin::ConstSharedPtr { // load map - map_projector_info_ = - std::make_unique(load_info_from_lanelet2_map(lanelet2_input_file_path)); + map_projector_info_ = std::make_unique( + autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path)); const auto map_ptr = Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { From 4f95dfa752fc2b97b20b3d7b06a3fd49bc1d473b Mon Sep 17 00:00:00 2001 From: a-maumau Date: Wed, 21 Aug 2024 11:16:37 +0900 Subject: [PATCH 2/2] add autoware_ prefix Signed-off-by: a-maumau --- launch/tier4_map_launch/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index bca5a853d69f7..649925c6d6466 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,8 +18,8 @@ ament_cmake_auto autoware_cmake + autoware_map_projection_loader map_loader - map_projection_loader map_tf_generator ament_lint_auto