From edde1a5115b737b0e7817a0e649a80ddb6b566f5 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 8 Aug 2024 22:33:43 +0900 Subject: [PATCH 1/2] chore(autoware_default_adapi): prefix autoware Signed-off-by: Takagi, Isamu --- .github/CODEOWNERS | 2 +- .../launch/autoware_api.launch.xml | 4 +-- launch/tier4_autoware_api_launch/package.xml | 2 +- localization/pose_initializer/README.md | 6 ++-- .../autoware_behavior_path_planner/README.md | 24 +++++++-------- .../CMakeLists.txt | 30 +++++++++---------- .../README.md | 4 +-- .../config/default_ad_api.param.yaml | 4 +-- .../document/autoware-state.md | 4 +-- .../document/fail-safe.md | 0 .../autoware-state-architecture.drawio.svg | 12 ++++---- .../images/autoware-state-table.drawio.svg | 0 .../document/images/localization.drawio.svg | 0 .../images/motion-architecture.drawio.svg | 0 .../document/images/motion-state.drawio.svg | 0 .../operation-mode-architecture.drawio.svg | 0 .../images/operation-mode-state.drawio.svg | 0 .../images/operation-mode-table.drawio.svg | 0 .../document/images/routing.drawio.svg | 0 .../document/interface.md | 0 .../document/localization.md | 0 .../document/motion.md | 0 .../document/operation-mode.md | 0 .../document/routing.md | 0 .../launch/default_ad_api.launch.py | 18 +++++------ .../package.xml | 4 +-- .../script/guide.py | 0 .../script/web_server.py | 0 .../src/compatibility/autoware_state.cpp | 6 ++-- .../src/compatibility/autoware_state.hpp | 4 +-- .../src/diagnostics.cpp | 6 ++-- .../src/diagnostics.hpp | 4 +-- .../src/fail_safe.cpp | 6 ++-- .../src/fail_safe.hpp | 4 +-- .../src/heartbeat.cpp | 6 ++-- .../src/heartbeat.hpp | 4 +-- .../src/interface.cpp | 6 ++-- .../src/interface.hpp | 4 +-- .../src/localization.cpp | 6 ++-- .../src/localization.hpp | 4 +-- .../src/motion.cpp | 6 ++-- .../src/motion.hpp | 4 +-- .../src/operation_mode.cpp | 6 ++-- .../src/operation_mode.hpp | 4 +-- .../src/perception.cpp | 6 ++-- .../src/perception.hpp | 4 +-- .../src/planning.cpp | 6 ++-- .../src/planning.hpp | 4 +-- .../src/routing.cpp | 6 ++-- .../src/routing.hpp | 4 +-- .../src/utils/localization_conversion.cpp | 4 +-- .../src/utils/localization_conversion.hpp | 4 +-- .../src/utils/route_conversion.cpp | 4 +-- .../src/utils/route_conversion.hpp | 4 +-- .../src/utils/topics.hpp | 4 +-- .../src/utils/types.hpp | 4 +-- .../src/vehicle.cpp | 6 ++-- .../src/vehicle.hpp | 4 +-- .../src/vehicle_door.cpp | 6 ++-- .../src/vehicle_door.hpp | 4 +-- .../src/vehicle_info.cpp | 6 ++-- .../src/vehicle_info.hpp | 4 +-- .../test/main.test.py | 4 +-- .../test/node/interface_version.py | 0 64 files changed, 141 insertions(+), 141 deletions(-) rename system/{default_ad_api => autoware_default_adapi}/CMakeLists.txt (55%) rename system/{default_ad_api => autoware_default_adapi}/README.md (93%) rename system/{default_ad_api => autoware_default_adapi}/config/default_ad_api.param.yaml (64%) rename system/{default_ad_api => autoware_default_adapi}/document/autoware-state.md (71%) rename system/{default_ad_api => autoware_default_adapi}/document/fail-safe.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/autoware-state-architecture.drawio.svg (92%) rename system/{default_ad_api => autoware_default_adapi}/document/images/autoware-state-table.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/localization.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/motion-architecture.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/motion-state.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-architecture.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-state.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-table.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/routing.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/interface.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/localization.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/motion.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/operation-mode.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/routing.md (100%) rename system/{default_ad_api => autoware_default_adapi}/launch/default_ad_api.launch.py (85%) rename system/{default_ad_api => autoware_default_adapi}/package.xml (94%) rename system/{default_ad_api => autoware_default_adapi}/script/guide.py (100%) rename system/{default_ad_api => autoware_default_adapi}/script/web_server.py (100%) rename system/{default_ad_api => autoware_default_adapi}/src/compatibility/autoware_state.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/compatibility/autoware_state.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/diagnostics.cpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/diagnostics.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/fail_safe.cpp (89%) rename system/{default_ad_api => autoware_default_adapi}/src/fail_safe.hpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/heartbeat.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/heartbeat.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/interface.cpp (87%) rename system/{default_ad_api => autoware_default_adapi}/src/interface.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/localization.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/localization.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/motion.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/motion.hpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/operation_mode.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/operation_mode.hpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/perception.cpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/perception.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/planning.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/planning.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/routing.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/routing.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/localization_conversion.cpp (91%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/localization_conversion.hpp (92%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/route_conversion.cpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/route_conversion.hpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/topics.hpp (92%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/types.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle.cpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle.hpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_door.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_door.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_info.cpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_info.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/test/main.test.py (91%) rename system/{default_ad_api => autoware_default_adapi}/test/node/interface_version.py (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 08fa500a8d546..ebfbf7615689a 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -221,7 +221,7 @@ system/autoware_component_monitor/** memin@leodrive.ai system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp system/bluetooth_monitor/** fumihito.ito@tier4.jp system/component_state_monitor/** isamu.takagi@tier4.jp -system/default_ad_api/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml index 2efd1a595b2f4..18d703f89e724 100644 --- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml +++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml @@ -1,7 +1,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index d45d21b3ed949..dbf5d16834681 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -12,11 +12,11 @@ autoware_cmake ad_api_adaptors + autoware_default_adapi autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor autoware_path_distance_calculator awapi_awiv_adapter - default_ad_api rosbridge_server topic_tools diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 9083a6570d33b..74e3a35b0ee10 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -51,9 +51,9 @@ If the score of initial pose estimation result is lower than score threshold, ER ## Connection with Default AD API -This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `default_ad_api`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/localization.md). +This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md). -drawing +drawing ## Initialize pose via CLI @@ -136,4 +136,4 @@ pose: ``` It behaves the same as "initialpose (from rviz)". -The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them. +The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md index 658edce2ccb3c..b6282e39e3910 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md @@ -89,18 +89,18 @@ The Planner Manager's responsibilities include: ### Input -| Name | Required? | Type | Description | -| :---------------------------- | :-------: | :------------------------------------------------------ | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. | -| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | -| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | -| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | -| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module | -| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. | -| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. | -| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. | -| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | -| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/operation-mode.md) | +| Name | Required? | Type | Description | +| :---------------------------- | :-------: | :------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. | +| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | +| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | +| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | +| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module | +| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. | +| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. | +| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. | +| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | +| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md) | - ○ Mandatory: Planning Module would not work if anyone of this is not present. - △ Optional: Some module would not work, but Planning Module can still be operated. diff --git a/system/default_ad_api/CMakeLists.txt b/system/autoware_default_adapi/CMakeLists.txt similarity index 55% rename from system/default_ad_api/CMakeLists.txt rename to system/autoware_default_adapi/CMakeLists.txt index 799a73508a061..79cfec596e072 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/autoware_default_adapi/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(default_ad_api) +project(autoware::default_adapi) find_package(autoware_cmake REQUIRED) autoware_package() @@ -24,20 +24,20 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_nodes(${PROJECT_NAME} - "default_ad_api::AutowareStateNode" - "default_ad_api::DiagnosticsNode" - "default_ad_api::FailSafeNode" - "default_ad_api::HeartbeatNode" - "default_ad_api::InterfaceNode" - "default_ad_api::LocalizationNode" - "default_ad_api::MotionNode" - "default_ad_api::OperationModeNode" - "default_ad_api::PerceptionNode" - "default_ad_api::PlanningNode" - "default_ad_api::RoutingNode" - "default_ad_api::VehicleNode" - "default_ad_api::VehicleInfoNode" - "default_ad_api::VehicleDoorNode" + "autoware::default_adapi::AutowareStateNode" + "autoware::default_adapi::DiagnosticsNode" + "autoware::default_adapi::FailSafeNode" + "autoware::default_adapi::HeartbeatNode" + "autoware::default_adapi::InterfaceNode" + "autoware::default_adapi::LocalizationNode" + "autoware::default_adapi::MotionNode" + "autoware::default_adapi::OperationModeNode" + "autoware::default_adapi::PerceptionNode" + "autoware::default_adapi::PlanningNode" + "autoware::default_adapi::RoutingNode" + "autoware::default_adapi::VehicleNode" + "autoware::default_adapi::VehicleInfoNode" + "autoware::default_adapi::VehicleDoorNode" ) if(BUILD_TESTING) diff --git a/system/default_ad_api/README.md b/system/autoware_default_adapi/README.md similarity index 93% rename from system/default_ad_api/README.md rename to system/autoware_default_adapi/README.md index 7bc496010eee9..e638c335ab8f2 100644 --- a/system/default_ad_api/README.md +++ b/system/autoware_default_adapi/README.md @@ -1,4 +1,4 @@ -# default_ad_api +# autoware_default_adapi ## Notes @@ -25,7 +25,7 @@ This is a sample to call API using HTTP. This is a debug script to check the conditions for transition to autonomous mode. ```bash -$ ros2 run default_ad_api guide.py +$ ros2 run autoware_default_adapi guide.py The vehicle pose is not estimated. Please set an initial pose or check GNSS. The route is not set. Please set a goal pose. diff --git a/system/default_ad_api/config/default_ad_api.param.yaml b/system/autoware_default_adapi/config/default_ad_api.param.yaml similarity index 64% rename from system/default_ad_api/config/default_ad_api.param.yaml rename to system/autoware_default_adapi/config/default_ad_api.param.yaml index a15abe091764c..ce007ac7b8e54 100644 --- a/system/default_ad_api/config/default_ad_api.param.yaml +++ b/system/autoware_default_adapi/config/default_ad_api.param.yaml @@ -1,8 +1,8 @@ -/default_ad_api/node/autoware_state: +/default_adapi/node/autoware_state: ros__parameters: update_rate: 10.0 -/default_ad_api/node/motion: +/default_adapi/node/motion: ros__parameters: require_accept_start: false stop_check_duration: 1.0 diff --git a/system/default_ad_api/document/autoware-state.md b/system/autoware_default_adapi/document/autoware-state.md similarity index 71% rename from system/default_ad_api/document/autoware-state.md rename to system/autoware_default_adapi/document/autoware-state.md index e26756de1f4ba..eb31a4d41bc1d 100644 --- a/system/default_ad_api/document/autoware-state.md +++ b/system/autoware_default_adapi/document/autoware-state.md @@ -2,7 +2,7 @@ ## Overview -Since `/autoware/state` was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility. +Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility. The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor. The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility. @@ -11,6 +11,6 @@ The service `/autoware/shutdown` to change autoware state to finalizing is also ## Conversion This is the correspondence between AD API states and autoware states. -The launch state is the data that default_ad_api node holds internally. +The launch state is the data that this node holds internally. ![autoware-state-table](images/autoware-state-table.drawio.svg) diff --git a/system/default_ad_api/document/fail-safe.md b/system/autoware_default_adapi/document/fail-safe.md similarity index 100% rename from system/default_ad_api/document/fail-safe.md rename to system/autoware_default_adapi/document/fail-safe.md diff --git a/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg b/system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg similarity index 92% rename from system/default_ad_api/document/images/autoware-state-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg index 40aebd20ae43f..f3e0129a2f3f2 100644 --- a/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg +++ b/system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg @@ -6,7 +6,7 @@ width="761px" height="381px" viewBox="-0.5 -0.5 761 381" - content="<mxfile><diagram id="X9Q9Zxk0nsySa-CThXZE" name="Page-1">5Vvfb5swEP5rIm0vUzA/kjxuWbe9TJrUh21PlQsOWAOMjGmS/fWzgx0Mpk1oEqAslVp8PhNz333nO+PO7HWy+0phFn0nAYpnYB7sZvbnGQCLhct/C8G+FDgLrxSEFAelyKoE9/gvksK5lBY4QHlNkRESM5zVhT5JU+SzmgxSSrZ1tQ2J69+awRAZgnsfxqb0Jw5YJKWWt6o6viEcRvKrl2BRdiRQKcsnySMYkK0msu9m9poSwsqrZLdGsbCdsks57sszvceJUZSyswbIieVsrx4OBfxZZZNQFpGQpDC+q6SfIpbEvNPil5QUaYDEzea8ZX67nFBOCuo3QGSQhkipOaVMfLc2UM75KyIJYnTPFSiKIcNPdRyghDM86smhHymFe00hIzhluXbnH0LAFaRjuks5N+mXYNWwXjd9flHOQLW0R6lEB0SeQWf5CnTqkGhYvR4ddxToLJxu6JzQvxwdefsnGBfykX2SZCRFh1nkDDIkOE9SzAg1kKzjtI0wQ/cZPOCw5VGzjt0Gx/GaxPw2Yqy9ccWPkJOUafLyw+U5o+QP0nq8w+clL3hClKHdi/gqtwd1w9pz2d5WwRAoakRaHFSAtLmEBsuLVrcHiFhqjdE4AbxRcMKa16Gwli9z4oT+5ZxQzlRxYga8mAmXzGDKr0NxHRO+mOK/3DAkVf381rqKEj/SpkTXwpxbWLuVYt0zt2w6ThzzlAG9Mfo1wxow2WeBW7FvgBUJjJZ9wOvGvhP6l7MPGOzjtmc4DStmTIICYD4gBxzLtOKtOWD3wYFzDaBmo7kZyRBVITjh5d5E/Mz2hoy1q/79zBltrDVqLatjbWZdOdY6BgkYybDPRX6E/D8y4ha5mchsRDUgeikrsokwpVkT9BuR56YVb80Ud7RMada9Vsc62bp2nexeyBRYMJKShBT5RMjiNWNTn2SxBlhWPJMsKlftP30BV40W/Lnp/peQf3BV87fe93knB5Wt/azLzkOb4exRRBmnGfBPRJkT+hdHGTBAVt6GjjUKdJr7PKfQOaF/+RrgGWtAgDawiNkDDB5ghs3Y/66+SbQWNlPFrGg0S473Bv5vd4e1sSK3bbA6zo3WB2D3TiTQssWjdtdHlkypivDcZKqhf3mYM7d4AgzDlOQM+1PNj+xlj/kRcPv3/7aye7j86PnK9j96p9Wry111Vx3tMCsT0oWl2r9VDsqvq4RUNPZa4weimE8e0S45KmjJgtR5hwGc9xWJhqgvt/whlYNPOJOwHNOtF96t3HphYFGZuonClF5PNIOJ12MssfvfCwOrlggw0r0wp+NemHPl9G3VhRJRwQKyTQ1A8whm4jJCO8ix5KqZFrml9BjMwTns2SF1zm50bGpmg72yCfTOJrvttMnVz8edbQDzQMchGczFDCPIqePBRHhT+piLP3yRzRF9wj56OET0h2OqON9CMeiw5Xso4usDH9GG0KksAM0isCWZvFn9bptvZy/MZ7gFVWwAN7FPS1Jy3PLQzeNewzxmdZO2vbB+uymfWzeuaxq37WyefQ3bmm96ZDD4z5ewITExCyJZzU8i0lq9WZY3q3P5ZepX/XODffcP</diagram></mxfile>" + content="<mxfile><diagram id="X9Q9Zxk0nsySa-CThXZE" name="Page-1">5VvNkps4EH4aV20uKSN+bB8TZ5K9bFWq5rCbk0sDMqgCiBJibOfpVzKSEQiPTbCBcTwHS62WLLr7a3U3mpm9TvbfKMyif0iA4hmYB/uZ/WUGgOU6Lv8SlENJ8Sy7JIQUB5KpIjzjX0gS55Ja4ADlNUZGSMxwVif6JE2Rz2o0SCnZ1dm2JK7/agZDZBCefRib1H9xwCJJtbxVNfA3wmEkf3oJFuVAAhWzfJI8ggHZaST7aWavKSGsbCX7NYqF8JRcynlfz4yeNkZRyq6aIDeWs4N6OBTwZ5VdQllEQpLC+Kmifo5YEvNBizcpKdIAicXmvGf+utxQTgrqN5TIIA2RYnNKmvhtbaLc8zdEEsTogTNQFEOGX+t6gFKd4YlPTv1EKTxoDBnBKcu1lb8LAmeQluku5d6kXYJVQ3rd+Hmj3IHqaY9SkY4aOaOd5W9op64STVe/rx13EtpZON20c4G/v3bk8q8wLuQj+yTJSIqOu8gZZEhgnqSYEWposq6nXYQZes7gUQ877jbrutviOF6TmC8j5tpbV/wJOkmZRi8/nJ4zSn4ibcQ7ft6ygldEGdq/qV9l9qAuWHsu+7vKGQIFjUjzg0ohbSahqeVNqdsjeCx1xmiYAN4kMGHN66qwlm9j4gJ/f0woY6owMQNezIRJZjDl7VC0Y8IPU/yLC4akapwvrbMo8gttUnQuzLGFtaUU6s4s2TScOOYhA3pn8Gu6NWCizwL3Qt8IJxKYLPqA1w19F/j7ow8Y6OOyZzgNK2Q8BATAfEQMOJYpxXtjwB4CA9cKQO1GMzOSIapccMLzvQexM9sb09euhrczZ7K+1si1rI65mXVjX+sYIGAkwz4n+RHyf0qPW+RmILMV2YAYpazIHgQpzZxgWI88N6V4b6S4k0VKM++1OubJ1q3zZLcnUmDBSEoSUuQPAhav6ZuGBIs1wrHimWBRserw4Qu4qbfgz00P/wn6R1d1f+hjX/ZyUtk7zLpUHtoEZ0/CyzhNh3/By1zg7+1lwAhReZt2rElop1nnuaSdC/z9zwDPOAOEV99xAW8CtIVFzDYwgBk2z4C/6sWitZCdSmpFp5l6fDDs4P1WWhsnc1uh1XHudE4Ae3BAgZZSj6qyTyyoUpnhtUFVg7+/uzNLPQGGYUpyhv1HjZPs5YBxEnCHt/+29Hu8OOl8hvsHvdsa1ORuWl1He8zKwHRhqf4PFYvydhWYis5B63xHFPPNI9olVgUt0ZC69zCC8fYIOBSjMvQHjigsxzTvhXcv816c1YmphUd6XdF0Kt6APsUevjYGVi2eYKK1Madjbcy5cRi36gKJqGAB2aWGQvMIZqIZoT3kuuSsmebBJfXk1ME16Nkjde9ucmhqRoWDogkMjia77fbJze/LXS0A84LHMSjMxQ4jyKHjwURYU/qSiy8YbHJEX7GPNkePvjmFjPMdFJOOJeBjMl+f+IK2hD7KAdBMBluCyrvl8bb5trZnPMMlqHwDuIt8WoKSU+lDF497C/GYWU7a9gL7/YZ8bl24rinctrt69i1ka775kc7gDz/CxtSJmRjJrP4hPK01mGR5t7qnX4Z+1X872E//Aw==</diagram></mxfile>" > @@ -148,14 +148,14 @@
- default_ad_api + autoware_default_adapi
(localization, routing, operation mode)
- default_ad_api... + autoware_default_adapi... @@ -207,14 +207,14 @@
- default_ad_api + autoware_default_adapi
(autoware state)
- default_ad_api... + autoware_default_adapi... @@ -326,7 +326,7 @@ - Viewer does not support full SVG 1.1 + Text is not SVG - cannot display diff --git a/system/default_ad_api/document/images/autoware-state-table.drawio.svg b/system/autoware_default_adapi/document/images/autoware-state-table.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/autoware-state-table.drawio.svg rename to system/autoware_default_adapi/document/images/autoware-state-table.drawio.svg diff --git a/system/default_ad_api/document/images/localization.drawio.svg b/system/autoware_default_adapi/document/images/localization.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/localization.drawio.svg rename to system/autoware_default_adapi/document/images/localization.drawio.svg diff --git a/system/default_ad_api/document/images/motion-architecture.drawio.svg b/system/autoware_default_adapi/document/images/motion-architecture.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/motion-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/motion-architecture.drawio.svg diff --git a/system/default_ad_api/document/images/motion-state.drawio.svg b/system/autoware_default_adapi/document/images/motion-state.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/motion-state.drawio.svg rename to system/autoware_default_adapi/document/images/motion-state.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-architecture.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-architecture.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-architecture.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-state.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-state.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-state.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-state.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-table.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-table.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-table.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-table.drawio.svg diff --git a/system/default_ad_api/document/images/routing.drawio.svg b/system/autoware_default_adapi/document/images/routing.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/routing.drawio.svg rename to system/autoware_default_adapi/document/images/routing.drawio.svg diff --git a/system/default_ad_api/document/interface.md b/system/autoware_default_adapi/document/interface.md similarity index 100% rename from system/default_ad_api/document/interface.md rename to system/autoware_default_adapi/document/interface.md diff --git a/system/default_ad_api/document/localization.md b/system/autoware_default_adapi/document/localization.md similarity index 100% rename from system/default_ad_api/document/localization.md rename to system/autoware_default_adapi/document/localization.md diff --git a/system/default_ad_api/document/motion.md b/system/autoware_default_adapi/document/motion.md similarity index 100% rename from system/default_ad_api/document/motion.md rename to system/autoware_default_adapi/document/motion.md diff --git a/system/default_ad_api/document/operation-mode.md b/system/autoware_default_adapi/document/operation-mode.md similarity index 100% rename from system/default_ad_api/document/operation-mode.md rename to system/autoware_default_adapi/document/operation-mode.md diff --git a/system/default_ad_api/document/routing.md b/system/autoware_default_adapi/document/routing.md similarity index 100% rename from system/default_ad_api/document/routing.md rename to system/autoware_default_adapi/document/routing.md diff --git a/system/default_ad_api/launch/default_ad_api.launch.py b/system/autoware_default_adapi/launch/default_ad_api.launch.py similarity index 85% rename from system/default_ad_api/launch/default_ad_api.launch.py rename to system/autoware_default_adapi/launch/default_ad_api.launch.py index ca1575a528db2..c54dd8e0def05 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/autoware_default_adapi/launch/default_ad_api.launch.py @@ -25,17 +25,17 @@ def create_api_node(node_name, class_name, **kwargs): return ComposableNode( - namespace="default_ad_api/node", + namespace="default_adapi/node", name=node_name, - package="default_ad_api", - plugin="default_ad_api::" + class_name, + package="autoware_default_adapi", + plugin="autoware::default_adapi::" + class_name, parameters=[ParameterFile(LaunchConfiguration("config"))], ) def get_default_config(): - path = FindPackageShare("default_ad_api") - path = PathJoinSubstitution([path, "config/default_ad_api.param.yaml"]) + path = FindPackageShare("default_adapi") + path = PathJoinSubstitution([path, "config/default_adapi.param.yaml"]) return path @@ -57,16 +57,16 @@ def generate_launch_description(): create_api_node("vehicle_door", "VehicleDoorNode"), ] container = ComposableNodeContainer( - namespace="default_ad_api", + namespace="default_adapi", name="container", package="rclcpp_components", executable="component_container_mt", - ros_arguments=["--log-level", "default_ad_api.container:=WARN"], + ros_arguments=["--log-level", "default_adapi.container:=WARN"], composable_node_descriptions=components, ) web_server = Node( - namespace="default_ad_api", - package="default_ad_api", + namespace="default_adapi", + package="autoware_default_adapi", name="web_server", executable="web_server.py", ) diff --git a/system/default_ad_api/package.xml b/system/autoware_default_adapi/package.xml similarity index 94% rename from system/default_ad_api/package.xml rename to system/autoware_default_adapi/package.xml index c2751c96e995c..5c6e10a73fa9c 100644 --- a/system/default_ad_api/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -1,9 +1,9 @@ - default_ad_api + autoware_default_adapi 0.1.0 - The default_ad_api package + The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome Yukihiro Saito diff --git a/system/default_ad_api/script/guide.py b/system/autoware_default_adapi/script/guide.py similarity index 100% rename from system/default_ad_api/script/guide.py rename to system/autoware_default_adapi/script/guide.py diff --git a/system/default_ad_api/script/web_server.py b/system/autoware_default_adapi/script/web_server.py similarity index 100% rename from system/default_ad_api/script/web_server.py rename to system/autoware_default_adapi/script/web_server.py diff --git a/system/default_ad_api/src/compatibility/autoware_state.cpp b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp similarity index 97% rename from system/default_ad_api/src/compatibility/autoware_state.cpp rename to system/autoware_default_adapi/src/compatibility/autoware_state.cpp index 1aa49383aa48f..da110a711e35a 100644 --- a/system/default_ad_api/src/compatibility/autoware_state.cpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options) @@ -140,7 +140,7 @@ void AutowareStateNode::on_timer() pub_autoware_state_->publish(msg); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::AutowareStateNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::AutowareStateNode) diff --git a/system/default_ad_api/src/compatibility/autoware_state.hpp b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp similarity index 97% rename from system/default_ad_api/src/compatibility/autoware_state.hpp rename to system/autoware_default_adapi/src/compatibility/autoware_state.hpp index eff74728efcb0..d4707ea55fd87 100644 --- a/system/default_ad_api/src/compatibility/autoware_state.hpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp @@ -28,7 +28,7 @@ // This file should be included after messages. #include "../utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class AutowareStateNode : public rclcpp::Node @@ -67,6 +67,6 @@ class AutowareStateNode : public rclcpp::Node void on_shutdown(const Trigger::Request::SharedPtr, const Trigger::Response::SharedPtr); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // COMPATIBILITY__AUTOWARE_STATE_HPP_ diff --git a/system/default_ad_api/src/diagnostics.cpp b/system/autoware_default_adapi/src/diagnostics.cpp similarity index 94% rename from system/default_ad_api/src/diagnostics.cpp rename to system/autoware_default_adapi/src/diagnostics.cpp index 6eaaa5bf614a6..0c1550690f1b5 100644 --- a/system/default_ad_api/src/diagnostics.cpp +++ b/system/autoware_default_adapi/src/diagnostics.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { DiagnosticsNode::DiagnosticsNode(const rclcpp::NodeOptions & options) : Node("diagnostics", options) @@ -75,7 +75,7 @@ void DiagnosticsNode::on_update(DiagGraph::ConstSharedPtr graph) pub_status_->publish(msg); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::DiagnosticsNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::DiagnosticsNode) diff --git a/system/default_ad_api/src/diagnostics.hpp b/system/autoware_default_adapi/src/diagnostics.hpp similarity index 95% rename from system/default_ad_api/src/diagnostics.hpp rename to system/autoware_default_adapi/src/diagnostics.hpp index 302ffe39159df..b382887aaa694 100644 --- a/system/default_ad_api/src/diagnostics.hpp +++ b/system/autoware_default_adapi/src/diagnostics.hpp @@ -22,7 +22,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { class DiagnosticsNode : public rclcpp::Node @@ -41,6 +41,6 @@ class DiagnosticsNode : public rclcpp::Node diagnostic_graph_utils::DiagGraphSubscription sub_graph_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // DIAGNOSTICS_HPP_ diff --git a/system/default_ad_api/src/fail_safe.cpp b/system/autoware_default_adapi/src/fail_safe.cpp similarity index 89% rename from system/default_ad_api/src/fail_safe.cpp rename to system/autoware_default_adapi/src/fail_safe.cpp index 92191a3d65bc9..130e2f523477c 100644 --- a/system/default_ad_api/src/fail_safe.cpp +++ b/system/autoware_default_adapi/src/fail_safe.cpp @@ -14,7 +14,7 @@ #include "fail_safe.hpp" -namespace default_ad_api +namespace autoware::default_adapi { FailSafeNode::FailSafeNode(const rclcpp::NodeOptions & options) : Node("fail_safe", options) @@ -35,7 +35,7 @@ void FailSafeNode::on_state(const MrmState::ConstSharedPtr msg) } } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::FailSafeNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::FailSafeNode) diff --git a/system/default_ad_api/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp similarity index 94% rename from system/default_ad_api/src/fail_safe.hpp rename to system/autoware_default_adapi/src/fail_safe.hpp index 6ae20b1b46e61..268fc6d4d95e4 100644 --- a/system/default_ad_api/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -23,7 +23,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class FailSafeNode : public rclcpp::Node @@ -39,6 +39,6 @@ class FailSafeNode : public rclcpp::Node void on_state(const MrmState::ConstSharedPtr msg); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // FAIL_SAFE_HPP_ diff --git a/system/default_ad_api/src/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp similarity index 90% rename from system/default_ad_api/src/heartbeat.cpp rename to system/autoware_default_adapi/src/heartbeat.cpp index 4550302bb8bae..e048c347f3678 100644 --- a/system/default_ad_api/src/heartbeat.cpp +++ b/system/autoware_default_adapi/src/heartbeat.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartbeat", options) @@ -36,7 +36,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb timer_ = rclcpp::create_timer(this, get_clock(), period, std::move(on_timer)); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::HeartbeatNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::HeartbeatNode) diff --git a/system/default_ad_api/src/heartbeat.hpp b/system/autoware_default_adapi/src/heartbeat.hpp similarity index 93% rename from system/default_ad_api/src/heartbeat.hpp rename to system/autoware_default_adapi/src/heartbeat.hpp index d922b88489639..8b1108d7b1bd3 100644 --- a/system/default_ad_api/src/heartbeat.hpp +++ b/system/autoware_default_adapi/src/heartbeat.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class HeartbeatNode : public rclcpp::Node @@ -35,6 +35,6 @@ class HeartbeatNode : public rclcpp::Node uint16_t sequence_ = 0; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // HEARTBEAT_HPP_ diff --git a/system/default_ad_api/src/interface.cpp b/system/autoware_default_adapi/src/interface.cpp similarity index 87% rename from system/default_ad_api/src/interface.cpp rename to system/autoware_default_adapi/src/interface.cpp index 997f9e01fc6a9..0d9134102c42a 100644 --- a/system/default_ad_api/src/interface.cpp +++ b/system/autoware_default_adapi/src/interface.cpp @@ -14,7 +14,7 @@ #include "interface.hpp" -namespace default_ad_api +namespace autoware::default_adapi { InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interface", options) @@ -29,7 +29,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interf adaptor.init_srv(srv_, on_interface_version); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::InterfaceNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::InterfaceNode) diff --git a/system/default_ad_api/src/interface.hpp b/system/autoware_default_adapi/src/interface.hpp similarity index 93% rename from system/default_ad_api/src/interface.hpp rename to system/autoware_default_adapi/src/interface.hpp index 46c70abf17f36..ce0bdb04e2d2e 100644 --- a/system/default_ad_api/src/interface.hpp +++ b/system/autoware_default_adapi/src/interface.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class InterfaceNode : public rclcpp::Node @@ -33,6 +33,6 @@ class InterfaceNode : public rclcpp::Node Srv srv_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // INTERFACE_HPP_ diff --git a/system/default_ad_api/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp similarity index 90% rename from system/default_ad_api/src/localization.cpp rename to system/autoware_default_adapi/src/localization.cpp index 97544a7868d9c..7e6a094fb0fd2 100644 --- a/system/default_ad_api/src/localization.cpp +++ b/system/autoware_default_adapi/src/localization.cpp @@ -16,7 +16,7 @@ #include "utils/localization_conversion.hpp" -namespace default_ad_api +namespace autoware::default_adapi { LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) @@ -36,7 +36,7 @@ void LocalizationNode::on_initialize( res->status = localization_conversion::convert_call(cli_initialize_, req); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::LocalizationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::LocalizationNode) diff --git a/system/default_ad_api/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp similarity index 95% rename from system/default_ad_api/src/localization.hpp rename to system/autoware_default_adapi/src/localization.hpp index a24e2110fabd1..d9104f393f712 100644 --- a/system/default_ad_api/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -22,7 +22,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class LocalizationNode : public rclcpp::Node @@ -42,6 +42,6 @@ class LocalizationNode : public rclcpp::Node const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // LOCALIZATION_HPP_ diff --git a/system/default_ad_api/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp similarity index 97% rename from system/default_ad_api/src/motion.cpp rename to system/autoware_default_adapi/src/motion.cpp index 9d4461fc76f1e..87d4df371abb7 100644 --- a/system/default_ad_api/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { MotionNode::MotionNode(const rclcpp::NodeOptions & options) @@ -159,7 +159,7 @@ void MotionNode::on_accept( res->status.success = true; } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::MotionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::MotionNode) diff --git a/system/default_ad_api/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp similarity index 96% rename from system/default_ad_api/src/motion.hpp rename to system/autoware_default_adapi/src/motion.hpp index 053e9b2427a10..043eb6568e141 100644 --- a/system/default_ad_api/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -25,7 +25,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class MotionNode : public rclcpp::Node @@ -65,6 +65,6 @@ class MotionNode : public rclcpp::Node const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // MOTION_HPP_ diff --git a/system/default_ad_api/src/operation_mode.cpp b/system/autoware_default_adapi/src/operation_mode.cpp similarity index 97% rename from system/default_ad_api/src/operation_mode.cpp rename to system/autoware_default_adapi/src/operation_mode.cpp index 510788dd09d08..cd452f2fa83a7 100644 --- a/system/default_ad_api/src/operation_mode.cpp +++ b/system/autoware_default_adapi/src/operation_mode.cpp @@ -18,7 +18,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { using ServiceResponse = autoware_adapi_v1_msgs::srv::ChangeOperationMode::Response; @@ -157,7 +157,7 @@ void OperationModeNode::update_state() } } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::OperationModeNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::OperationModeNode) diff --git a/system/default_ad_api/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp similarity index 98% rename from system/default_ad_api/src/operation_mode.hpp rename to system/autoware_default_adapi/src/operation_mode.hpp index 7cd609b5eb852..3b139ad875b8d 100644 --- a/system/default_ad_api/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -30,7 +30,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class OperationModeNode : public rclcpp::Node { @@ -94,6 +94,6 @@ class OperationModeNode : public rclcpp::Node void change_mode(const ResponseT res, const OperationModeRequest::_mode_type mode); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // OPERATION_MODE_HPP_ diff --git a/system/default_ad_api/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp similarity index 96% rename from system/default_ad_api/src/perception.cpp rename to system/autoware_default_adapi/src/perception.cpp index 794bbf141ca8b..c92bac2f5f139 100644 --- a/system/default_ad_api/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray; @@ -87,7 +87,7 @@ void PerceptionNode::object_recognize( pub_object_recognized_->publish(objects); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::PerceptionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PerceptionNode) diff --git a/system/default_ad_api/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp similarity index 95% rename from system/default_ad_api/src/perception.hpp rename to system/autoware_default_adapi/src/perception.hpp index ff3e4801b07ac..4eb83c57293ba 100644 --- a/system/default_ad_api/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -31,7 +31,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class PerceptionNode : public rclcpp::Node @@ -47,6 +47,6 @@ class PerceptionNode : public rclcpp::Node std::unordered_map hash_map, uint8_t input, uint8_t default_value); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // PERCEPTION_HPP_ diff --git a/system/default_ad_api/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp similarity index 97% rename from system/default_ad_api/src/planning.cpp rename to system/autoware_default_adapi/src/planning.cpp index 374316e19e6b1..b81e48fada790 100644 --- a/system/default_ad_api/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -22,7 +22,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { template @@ -155,7 +155,7 @@ void PlanningNode::on_timer() pub_steering_factors_->publish(steering); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::PlanningNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PlanningNode) diff --git a/system/default_ad_api/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp similarity index 97% rename from system/default_ad_api/src/planning.hpp rename to system/autoware_default_adapi/src/planning.hpp index 929eb517afa2e..f67de9f7b9221 100644 --- a/system/default_ad_api/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -27,7 +27,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class PlanningNode : public rclcpp::Node @@ -62,6 +62,6 @@ class PlanningNode : public rclcpp::Node KinematicState::ConstSharedPtr kinematic_state_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // PLANNING_HPP_ diff --git a/system/default_ad_api/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp similarity index 97% rename from system/default_ad_api/src/routing.cpp rename to system/autoware_default_adapi/src/routing.cpp index 0f2247c3aada8..767cfc37d3f25 100644 --- a/system/default_ad_api/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -45,7 +45,7 @@ ResponseStatus route_is_not_set() } // namespace -namespace default_ad_api +namespace autoware::default_adapi { RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", options) @@ -166,7 +166,7 @@ void RoutingNode::on_change_route( res->status = conversion::convert_call(cli_set_lanelet_route_, req); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::RoutingNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::RoutingNode) diff --git a/system/default_ad_api/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp similarity index 97% rename from system/default_ad_api/src/routing.hpp rename to system/autoware_default_adapi/src/routing.hpp index 406569aa0a36b..9033373c3a064 100644 --- a/system/default_ad_api/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -24,7 +24,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class RoutingNode : public rclcpp::Node @@ -76,6 +76,6 @@ class RoutingNode : public rclcpp::Node const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // ROUTING_HPP_ diff --git a/system/default_ad_api/src/utils/localization_conversion.cpp b/system/autoware_default_adapi/src/utils/localization_conversion.cpp similarity index 91% rename from system/default_ad_api/src/utils/localization_conversion.cpp rename to system/autoware_default_adapi/src/utils/localization_conversion.cpp index 3ddf259a4a590..1b327e2d2fc06 100644 --- a/system/default_ad_api/src/utils/localization_conversion.cpp +++ b/system/autoware_default_adapi/src/utils/localization_conversion.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api::localization_conversion +namespace autoware::default_adapi::localization_conversion { InternalInitializeRequest convert_request(const ExternalInitializeRequest & external) @@ -37,4 +37,4 @@ ExternalResponse convert_response(const InternalResponse & internal) return external; } -} // namespace default_ad_api::localization_conversion +} // namespace autoware::default_adapi::localization_conversion diff --git a/system/default_ad_api/src/utils/localization_conversion.hpp b/system/autoware_default_adapi/src/utils/localization_conversion.hpp similarity index 92% rename from system/default_ad_api/src/utils/localization_conversion.hpp rename to system/autoware_default_adapi/src/utils/localization_conversion.hpp index 85b6e81e6cd91..d8e66a6ae44aa 100644 --- a/system/default_ad_api/src/utils/localization_conversion.hpp +++ b/system/autoware_default_adapi/src/utils/localization_conversion.hpp @@ -20,7 +20,7 @@ #include #include -namespace default_ad_api::localization_conversion +namespace autoware::default_adapi::localization_conversion { using ExternalInitializeRequest = @@ -39,6 +39,6 @@ ExternalResponse convert_call(ClientT & client, RequestT & req) return convert_response(client->call(convert_request(req))->status); } -} // namespace default_ad_api::localization_conversion +} // namespace autoware::default_adapi::localization_conversion #endif // UTILS__LOCALIZATION_CONVERSION_HPP_ diff --git a/system/default_ad_api/src/utils/route_conversion.cpp b/system/autoware_default_adapi/src/utils/route_conversion.cpp similarity index 98% rename from system/default_ad_api/src/utils/route_conversion.cpp rename to system/autoware_default_adapi/src/utils/route_conversion.cpp index 70951fc337b68..e8a748d52edee 100644 --- a/system/default_ad_api/src/utils/route_conversion.cpp +++ b/system/autoware_default_adapi/src/utils/route_conversion.cpp @@ -86,7 +86,7 @@ LaneletSegment convert(const RouteSegment & in) } // namespace -namespace default_ad_api::conversion +namespace autoware::default_adapi::conversion { ExternalRoute create_empty_route(const rclcpp::Time & stamp) @@ -170,4 +170,4 @@ ExternalResponse convert_response(const InternalResponse & internal) return external; } -} // namespace default_ad_api::conversion +} // namespace autoware::default_adapi::conversion diff --git a/system/default_ad_api/src/utils/route_conversion.hpp b/system/autoware_default_adapi/src/utils/route_conversion.hpp similarity index 96% rename from system/default_ad_api/src/utils/route_conversion.hpp rename to system/autoware_default_adapi/src/utils/route_conversion.hpp index 9a31b9e80c064..053dfd697c967 100644 --- a/system/default_ad_api/src/utils/route_conversion.hpp +++ b/system/autoware_default_adapi/src/utils/route_conversion.hpp @@ -28,7 +28,7 @@ #include #include -namespace default_ad_api::conversion +namespace autoware::default_adapi::conversion { using ExternalRoute = autoware_adapi_v1_msgs::msg::Route; @@ -62,6 +62,6 @@ ExternalResponse convert_call(ClientT & client, RequestT & req) return convert_response(client->call(convert_request(req))->status); } -} // namespace default_ad_api::conversion +} // namespace autoware::default_adapi::conversion #endif // UTILS__ROUTE_CONVERSION_HPP_ diff --git a/system/default_ad_api/src/utils/topics.hpp b/system/autoware_default_adapi/src/utils/topics.hpp similarity index 92% rename from system/default_ad_api/src/utils/topics.hpp rename to system/autoware_default_adapi/src/utils/topics.hpp index 97d91b33c9fa3..6018abb877285 100644 --- a/system/default_ad_api/src/utils/topics.hpp +++ b/system/autoware_default_adapi/src/utils/topics.hpp @@ -20,7 +20,7 @@ #include -namespace default_ad_api::utils +namespace autoware::default_adapi::utils { template @@ -39,6 +39,6 @@ void notify(PubT & pub, std::optional & prev, const MsgT & curr, FuncT && } } -} // namespace default_ad_api::utils +} // namespace autoware::default_adapi::utils #endif // UTILS__TOPICS_HPP_ diff --git a/system/default_ad_api/src/utils/types.hpp b/system/autoware_default_adapi/src/utils/types.hpp similarity index 93% rename from system/default_ad_api/src/utils/types.hpp rename to system/autoware_default_adapi/src/utils/types.hpp index 693e64a0dce55..ac4acb5fb19d6 100644 --- a/system/default_ad_api/src/utils/types.hpp +++ b/system/autoware_default_adapi/src/utils/types.hpp @@ -17,7 +17,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { template @@ -29,6 +29,6 @@ using Cli = typename component_interface_utils::Client::SharedPtr; template using Srv = typename component_interface_utils::Service::SharedPtr; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // UTILS__TYPES_HPP_ diff --git a/system/default_ad_api/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp similarity index 98% rename from system/default_ad_api/src/vehicle.cpp rename to system/autoware_default_adapi/src/vehicle.cpp index 053e1258c7bef..5421f382795ef 100644 --- a/system/default_ad_api/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -21,7 +21,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { using GearReport = vehicle_interface::GearStatus::Message; @@ -189,7 +189,7 @@ void VehicleNode::on_timer() publish_status(); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleNode) diff --git a/system/default_ad_api/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp similarity index 98% rename from system/default_ad_api/src/vehicle.hpp rename to system/autoware_default_adapi/src/vehicle.hpp index 56012152a132b..5e3818340b819 100644 --- a/system/default_ad_api/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -30,7 +30,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleNode : public rclcpp::Node @@ -80,6 +80,6 @@ class VehicleNode : public rclcpp::Node void on_timer(); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_HPP_ diff --git a/system/default_ad_api/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp similarity index 90% rename from system/default_ad_api/src/vehicle_door.cpp rename to system/autoware_default_adapi/src/vehicle_door.cpp index e37e91bdda8e2..e897bc37eff42 100644 --- a/system/default_ad_api/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -16,7 +16,7 @@ #include "utils/topics.hpp" -namespace default_ad_api +namespace autoware::default_adapi { VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) @@ -36,7 +36,7 @@ void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSha pub_status_, status_, *msg, utils::ignore_stamp); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleDoorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleDoorNode) diff --git a/system/default_ad_api/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp similarity index 95% rename from system/default_ad_api/src/vehicle_door.hpp rename to system/autoware_default_adapi/src/vehicle_door.hpp index e83e0a164d3f6..8f6c2da83247d 100644 --- a/system/default_ad_api/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -24,7 +24,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleDoorNode : public rclcpp::Node @@ -44,6 +44,6 @@ class VehicleDoorNode : public rclcpp::Node std::optional status_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_DOOR_HPP_ diff --git a/system/default_ad_api/src/vehicle_info.cpp b/system/autoware_default_adapi/src/vehicle_info.cpp similarity index 94% rename from system/default_ad_api/src/vehicle_info.cpp rename to system/autoware_default_adapi/src/vehicle_info.cpp index 8bf7da65f6e33..810290d1e8814 100644 --- a/system/default_ad_api/src/vehicle_info.cpp +++ b/system/autoware_default_adapi/src/vehicle_info.cpp @@ -30,7 +30,7 @@ auto create_point(double x, double y) } // namespace -namespace default_ad_api +namespace autoware::default_adapi { VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) @@ -65,7 +65,7 @@ VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) adaptor.init_srv(srv_dimensions_, on_vehicle_dimensions); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleInfoNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleInfoNode) diff --git a/system/default_ad_api/src/vehicle_info.hpp b/system/autoware_default_adapi/src/vehicle_info.hpp similarity index 93% rename from system/default_ad_api/src/vehicle_info.hpp rename to system/autoware_default_adapi/src/vehicle_info.hpp index c7171ddf52485..f13f222fc269e 100644 --- a/system/default_ad_api/src/vehicle_info.hpp +++ b/system/autoware_default_adapi/src/vehicle_info.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleInfoNode : public rclcpp::Node @@ -34,6 +34,6 @@ class VehicleInfoNode : public rclcpp::Node autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_INFO_HPP_ diff --git a/system/default_ad_api/test/main.test.py b/system/autoware_default_adapi/test/main.test.py similarity index 91% rename from system/default_ad_api/test/main.test.py rename to system/autoware_default_adapi/test/main.test.py index 728f8a3604ada..3f7f7083ac46e 100644 --- a/system/default_ad_api/test/main.test.py +++ b/system/autoware_default_adapi/test/main.test.py @@ -26,7 +26,7 @@ @pytest.mark.launch_test @launch_testing.markers.keep_alive def generate_test_description(): - path = get_package_share_directory("default_ad_api") + "/launch/default_ad_api.launch.py" + path = get_package_share_directory("autoware_default_adapi") + "/launch/default_adapi.launch.py" specification = importlib.util.spec_from_file_location("launch_script", path) launch_script = importlib.util.module_from_spec(specification) specification.loader.exec_module(launch_script) @@ -40,7 +40,7 @@ def generate_test_description(): class TestMain(unittest.TestCase): def test_interface_version(self, launch_service, proc_info, proc_output): - prefix = get_package_share_directory("default_ad_api") + prefix = get_package_share_directory("autoware_default_adapi") target = prefix + "/test/node/interface_version.py" action = launch.actions.ExecuteProcess(cmd=["python3", target]) with launch_testing.tools.launch_process(launch_service, action, proc_info, proc_output): diff --git a/system/default_ad_api/test/node/interface_version.py b/system/autoware_default_adapi/test/node/interface_version.py similarity index 100% rename from system/default_ad_api/test/node/interface_version.py rename to system/autoware_default_adapi/test/node/interface_version.py From 63139e9fc83509161688eee8f0a43882dbce9207 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 20 Aug 2024 15:58:43 +0900 Subject: [PATCH 2/2] fix package name Signed-off-by: Takagi, Isamu --- .../launch/autoware_api.launch.xml | 2 +- system/autoware_default_adapi/CMakeLists.txt | 2 +- ...ault_ad_api.param.yaml => default_adapi.param.yaml} | 4 ++-- ...efault_ad_api.launch.py => default_adapi.launch.py} | 10 +++++----- 4 files changed, 9 insertions(+), 9 deletions(-) rename system/autoware_default_adapi/config/{default_ad_api.param.yaml => default_adapi.param.yaml} (65%) rename system/autoware_default_adapi/launch/{default_ad_api.launch.py => default_adapi.launch.py} (92%) diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml index 18d703f89e724..143fbc9be5bfb 100644 --- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml +++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml @@ -16,7 +16,7 @@ - + diff --git a/system/autoware_default_adapi/CMakeLists.txt b/system/autoware_default_adapi/CMakeLists.txt index 79cfec596e072..2dd39b455d2d2 100644 --- a/system/autoware_default_adapi/CMakeLists.txt +++ b/system/autoware_default_adapi/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware::default_adapi) +project(autoware_default_adapi) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/system/autoware_default_adapi/config/default_ad_api.param.yaml b/system/autoware_default_adapi/config/default_adapi.param.yaml similarity index 65% rename from system/autoware_default_adapi/config/default_ad_api.param.yaml rename to system/autoware_default_adapi/config/default_adapi.param.yaml index ce007ac7b8e54..ddbf103878953 100644 --- a/system/autoware_default_adapi/config/default_ad_api.param.yaml +++ b/system/autoware_default_adapi/config/default_adapi.param.yaml @@ -1,8 +1,8 @@ -/default_adapi/node/autoware_state: +/adapi/node/autoware_state: ros__parameters: update_rate: 10.0 -/default_adapi/node/motion: +/adapi/node/motion: ros__parameters: require_accept_start: false stop_check_duration: 1.0 diff --git a/system/autoware_default_adapi/launch/default_ad_api.launch.py b/system/autoware_default_adapi/launch/default_adapi.launch.py similarity index 92% rename from system/autoware_default_adapi/launch/default_ad_api.launch.py rename to system/autoware_default_adapi/launch/default_adapi.launch.py index c54dd8e0def05..9f95b16ab640b 100644 --- a/system/autoware_default_adapi/launch/default_ad_api.launch.py +++ b/system/autoware_default_adapi/launch/default_adapi.launch.py @@ -25,7 +25,7 @@ def create_api_node(node_name, class_name, **kwargs): return ComposableNode( - namespace="default_adapi/node", + namespace="adapi/node", name=node_name, package="autoware_default_adapi", plugin="autoware::default_adapi::" + class_name, @@ -34,7 +34,7 @@ def create_api_node(node_name, class_name, **kwargs): def get_default_config(): - path = FindPackageShare("default_adapi") + path = FindPackageShare("autoware_default_adapi") path = PathJoinSubstitution([path, "config/default_adapi.param.yaml"]) return path @@ -57,15 +57,15 @@ def generate_launch_description(): create_api_node("vehicle_door", "VehicleDoorNode"), ] container = ComposableNodeContainer( - namespace="default_adapi", + namespace="adapi", name="container", package="rclcpp_components", executable="component_container_mt", - ros_arguments=["--log-level", "default_adapi.container:=WARN"], + ros_arguments=["--log-level", "adapi.container:=WARN"], composable_node_descriptions=components, ) web_server = Node( - namespace="default_adapi", + namespace="adapi", package="autoware_default_adapi", name="web_server", executable="web_server.py",