feat: apply autoware_ prefix for evaluator/kinematic_evaluator

.github/CODEOWNERS

@@ -49,7 +49,7 @@ control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4
 control/predicted_path_checker/** berkay@leodrive.ai
 evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp
 evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp
-evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+evaluator/autoware_kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp junya.sasaki@tier4.jp
 evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp junya.sasaki@tier4.jp
 evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp

evaluator/kinematic_evaluator/CMakeLists.txt → evaluator/autoware_kinematic_evaluator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(kinematic_evaluator)
+project(autoware_kinematic_evaluator)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -15,26 +15,25 @@ autoware_package()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(${PROJECT_NAME}_node SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/metrics_calculator.cpp
-  src/${PROJECT_NAME}_node.cpp
   src/kinematic_evaluator_node.cpp
   src/metrics/kinematic_metrics.cpp
 )
 
-rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "kinematic_diagnostics::KinematicEvaluatorNode"
-  EXECUTABLE ${PROJECT_NAME}
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::kinematic_diagnostics::KinematicEvaluatorNode"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  ament_add_gtest(test_${PROJECT_NAME}
+  ament_add_gtest(test_kinematic_evaluator
     test/test_kinematic_evaluator_node.cpp
   )
-  target_link_libraries(test_${PROJECT_NAME}
-    ${PROJECT_NAME}_node
+  target_link_libraries(test_kinematic_evaluator
+    ${PROJECT_NAME}
   )
 endif()
 

evaluator/autoware_kinematic_evaluator/README.md

@@ -0,0 +1,7 @@
+# autoware_kinematic_evaluator
+
+TBD
+
+## Parameters
+
+{{json_to_markdown("evaluator/autoware_kinematic_evaluator/schema/kinematic_evaluator.schema.json")}}

evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp → evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/kinematic_evaluator_node.hpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
-#define KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
+#ifndef AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
+#define AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
 
+#include "autoware/kinematic_evaluator/metrics_calculator.hpp"
 #include "autoware/universe_utils/math/accumulator.hpp"
-#include "kinematic_evaluator/metrics_calculator.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
@@ -31,7 +31,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 using autoware::universe_utils::Accumulator;
 using diagnostic_msgs::msg::DiagnosticArray;
@@ -78,6 +78,6 @@ class KinematicEvaluatorNode : public rclcpp::Node
   std::array<std::deque<Accumulator<double>>, static_cast<size_t>(Metric::SIZE)> metric_stats_;
   std::unordered_map<Metric, Accumulator<double>> metrics_dict_;
 };
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
-#endif  // KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_
+#endif  // AUTOWARE__KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_

evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp → evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
-#define KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
+#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
+#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
 
 #include "autoware/universe_utils/math/accumulator.hpp"
 
 #include <nav_msgs/msg/odometry.hpp>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 namespace metrics
 {
@@ -35,6 +35,6 @@ using nav_msgs::msg::Odometry;
 Accumulator<double> updateVelocityStats(const double & value, const Accumulator<double> stat_prev);
 
 }  // namespace metrics
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
-#endif  // KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_
+#endif  // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_

evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/metric.hpp → evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics/metric.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
-#define KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
+#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
+#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
 
 #include <iostream>
 #include <string>
 #include <unordered_map>
 #include <vector>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 /**
  * @brief Enumeration of velocity metrics
@@ -57,6 +57,6 @@ static struct CheckCorrectMaps
 } check;
 
 }  // namespace details
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
-#endif  // KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_
+#endif  // AUTOWARE__KINEMATIC_EVALUATOR__METRICS__METRIC_HPP_

evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp → evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/metrics_calculator.hpp

@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
-#define KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
+#ifndef AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
+#define AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
 
+#include "autoware/kinematic_evaluator/metrics/metric.hpp"
+#include "autoware/kinematic_evaluator/parameters.hpp"
 #include "autoware/universe_utils/math/accumulator.hpp"
-#include "kinematic_evaluator/metrics/metric.hpp"
-#include "kinematic_evaluator/parameters.hpp"
 
 #include "geometry_msgs/msg/pose.hpp"
 #include <nav_msgs/msg/odometry.hpp>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 using autoware::universe_utils::Accumulator;
 using nav_msgs::msg::Odometry;
@@ -52,6 +52,6 @@ class MetricsCalculator
     const Metric metric, const Odometry & odom, const Accumulator<double> stat_prev) const;
 };  // class MetricsCalculator
 
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
-#endif  // KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_
+#endif  // AUTOWARE__KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_

evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp → evaluator/autoware_kinematic_evaluator/include/autoware/kinematic_evaluator/parameters.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KINEMATIC_EVALUATOR__PARAMETERS_HPP_
-#define KINEMATIC_EVALUATOR__PARAMETERS_HPP_
+#ifndef AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_
+#define AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_
 
-#include "kinematic_evaluator/metrics/metric.hpp"
+#include "autoware/kinematic_evaluator/metrics/metric.hpp"
 
 #include <array>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 /**
  * @brief Enumeration of trajectory metrics
@@ -29,6 +29,6 @@ struct Parameters
   std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{};  // default values to false
 };  // struct Parameters
 
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
-#endif  // KINEMATIC_EVALUATOR__PARAMETERS_HPP_
+#endif  // AUTOWARE__KINEMATIC_EVALUATOR__PARAMETERS_HPP_

evaluator/autoware_kinematic_evaluator/launch/kinematic_evaluator.launch.xml

@@ -0,0 +1,8 @@
+<launch>
+  <arg name="input/twist" default="/localization/kinematic_state"/>
+
+  <node pkg="autoware_kinematic_evaluator" exec="autoware_kinematic_evaluator_node" output="screen">
+    <param from="$(find-pkg-share autoware_kinematic_evaluator)/param/kinematic_evaluator.defaults.yaml"/>
+    <remap from="~/input/twist" to="$(var input/twist)"/>
+  </node>
+</launch>

evaluator/kinematic_evaluator/package.xml → evaluator/autoware_kinematic_evaluator/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>kinematic_evaluator</name>
+  <name>autoware_kinematic_evaluator</name>
   <version>0.40.0</version>
   <description>kinematic evaluator ROS 2 node</description>
 
@@ -11,6 +11,7 @@
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
 
   <license>Apache License 2.0</license>
 

evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp → evaluator/autoware_kinematic_evaluator/src/kinematic_evaluator_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kinematic_evaluator/kinematic_evaluator_node.hpp"
+#include "autoware/kinematic_evaluator/kinematic_evaluator_node.hpp"
 
 #include "boost/lexical_cast.hpp"
 
@@ -22,7 +22,7 @@
 #include <string>
 #include <vector>
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 KinematicEvaluatorNode::KinematicEvaluatorNode(const rclcpp::NodeOptions & node_options)
 : Node("kinematic_evaluator", node_options)
@@ -139,7 +139,7 @@ geometry_msgs::msg::Pose KinematicEvaluatorNode::getCurrentEgoPose() const
   return p;
 }
 
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(kinematic_diagnostics::KinematicEvaluatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::kinematic_diagnostics::KinematicEvaluatorNode)

evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp → evaluator/autoware_kinematic_evaluator/src/metrics/kinematic_metrics.cpp

@@ -12,19 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kinematic_evaluator/metrics/kinematic_metrics.hpp"
+#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp"
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 namespace metrics
 {
 
-Accumulator<double> updateVelocityStats(const double & value, const Accumulator<double> stat_prev)
+autoware::universe_utils::Accumulator<double> updateVelocityStats(
+  const double & value, const autoware::universe_utils::Accumulator<double> stat_prev)
 {
-  Accumulator<double> stat(stat_prev);
+  autoware::universe_utils::Accumulator<double> stat(stat_prev);
   stat.add(value);
   return stat;
 }
 
 }  // namespace metrics
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics

evaluator/kinematic_evaluator/src/metrics_calculator.cpp → evaluator/autoware_kinematic_evaluator/src/metrics_calculator.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kinematic_evaluator/metrics_calculator.hpp"
+#include "autoware/kinematic_evaluator/metrics_calculator.hpp"
 
-#include "kinematic_evaluator/metrics/kinematic_metrics.hpp"
+#include "autoware/kinematic_evaluator/metrics/kinematic_metrics.hpp"
 
-namespace kinematic_diagnostics
+namespace autoware::kinematic_diagnostics
 {
 Accumulator<double> MetricsCalculator::updateStat(
   const Metric metric, const Odometry & odom, const Accumulator<double> stat_prev) const
@@ -31,4 +31,4 @@ Accumulator<double> MetricsCalculator::updateStat(
   }
 }
 
-}  // namespace kinematic_diagnostics
+}  // namespace autoware::kinematic_diagnostics

evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp → evaluator/autoware_kinematic_evaluator/test/test_kinematic_evaluator_node.cpp

@@ -18,7 +18,7 @@
 #include "rclcpp/time.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 
-#include <kinematic_evaluator/kinematic_evaluator_node.hpp>
+#include <autoware/kinematic_evaluator/kinematic_evaluator_node.hpp>
 
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -32,7 +32,7 @@
 #include <utility>
 #include <vector>
 
-using EvalNode = kinematic_diagnostics::KinematicEvaluatorNode;
+using EvalNode = autoware::kinematic_diagnostics::KinematicEvaluatorNode;
 using diagnostic_msgs::msg::DiagnosticArray;
 using nav_msgs::msg::Odometry;
 
@@ -44,7 +44,8 @@ class EvalTest : public ::testing::Test
     rclcpp::init(0, nullptr);
 
     rclcpp::NodeOptions options;
-    const auto share_dir = ament_index_cpp::get_package_share_directory("kinematic_evaluator");
+    const auto share_dir =
+      ament_index_cpp::get_package_share_directory("autoware_kinematic_evaluator");
     options.arguments(
       {"--ros-args", "--params-file", share_dir + "/param/kinematic_evaluator.defaults.yaml"});
 
@@ -70,9 +71,9 @@ class EvalTest : public ::testing::Test
 
   ~EvalTest() override { /*rclcpp::shutdown();*/ }
 
-  void setTargetMetric(kinematic_diagnostics::Metric metric)
+  void setTargetMetric(autoware::kinematic_diagnostics::Metric metric)
   {
-    const auto metric_str = kinematic_diagnostics::metric_to_str.at(metric);
+    const auto metric_str = autoware::kinematic_diagnostics::metric_to_str.at(metric);
     const auto is_target_metric = [metric_str](const auto & status) {
       return status.name == metric_str;
     };
@@ -130,7 +131,7 @@ class EvalTest : public ::testing::Test
 
 TEST_F(EvalTest, TestVelocityStats)
 {
-  setTargetMetric(kinematic_diagnostics::Metric::velocity_stats);
+  setTargetMetric(autoware::kinematic_diagnostics::Metric::velocity_stats);
   Odometry odom = makeOdometry(0.0);
   EXPECT_DOUBLE_EQ(publishOdometryAndGetMetric(odom), 0.0);
   Odometry odom2 = makeOdometry(1.0);