feat: apply autoware_ prefix for control_performance_analysis

control/control_performance_analysis/CMakeLists.txt → control/autoware_control_performance_analysis/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(control_performance_analysis)
+project(autoware_control_performance_analysis)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -19,7 +19,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-        control_performance_analysis
+        ${PROJECT_NAME}
         "msg/Error.msg"
         "msg/ErrorStamped.msg"
         "msg/DrivingMonitorStamped.msg"
@@ -40,12 +40,12 @@ ament_auto_add_library(
 
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(control_performance_analysis_node
-            control_performance_analysis "rosidl_typesupport_cpp")
+            ${PROJECT_NAME} "rosidl_typesupport_cpp")
     rosidl_target_interfaces(control_performance_analysis_core
-            control_performance_analysis "rosidl_typesupport_cpp")
+            ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target control_performance_analysis "rosidl_typesupport_cpp")
+            cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
     target_link_libraries(control_performance_analysis_node "${cpp_typesupport_target}")
     target_link_libraries(control_performance_analysis_core "${cpp_typesupport_target}")
 
@@ -58,8 +58,8 @@ target_link_libraries(
 
 rclcpp_components_register_node(
         control_performance_analysis_node
-        PLUGIN "control_performance_analysis::ControlPerformanceAnalysisNode"
-        EXECUTABLE control_performance_analysis_exe
+        PLUGIN "autoware::control::control_performance_analysis::ControlPerformanceAnalysisNode"
+        EXECUTABLE ${PROJECT_NAME}_node
 )
 
 ament_auto_package(

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp → control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
-#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
 
+#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include "control_performance_analysis/control_performance_analysis_utils.hpp"
-#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
-#include "control_performance_analysis/msg/error_stamped.hpp"
-#include "control_performance_analysis/msg/float_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/float_stamped.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/time.hpp>
@@ -37,15 +37,15 @@
 #include <utility>
 #include <vector>
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
+using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
+using autoware_control_performance_analysis::msg::Error;
+using autoware_control_performance_analysis::msg::ErrorStamped;
+using autoware_control_performance_analysis::msg::FloatStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
-using control_performance_analysis::msg::DrivingMonitorStamped;
-using control_performance_analysis::msg::Error;
-using control_performance_analysis::msg::ErrorStamped;
-using control_performance_analysis::msg::FloatStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseArray;
 using geometry_msgs::msg::Twist;
@@ -129,6 +129,6 @@ class ControlPerformanceAnalysisCore
   rclcpp::Logger logger_{rclcpp::get_logger("control_performance_analysis")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
 };
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis
 
-#endif  // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp → control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
-#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
 
-#include "control_performance_analysis/control_performance_analysis_core.hpp"
-#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
-#include "control_performance_analysis/msg/error_stamped.hpp"
+#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
+#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
 
 #include <autoware/signal_processing/lowpass_filter_1d.hpp>
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
@@ -34,13 +34,13 @@
 #include <memory>
 #include <utility>
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
+using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
+using autoware_control_performance_analysis::msg::ErrorStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
-using control_performance_analysis::msg::DrivingMonitorStamped;
-using control_performance_analysis::msg::ErrorStamped;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
 
@@ -92,6 +92,6 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
   // Algorithm
   std::unique_ptr<ControlPerformanceAnalysisCore> control_performance_core_ptr_;
 };
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis
 
-#endif  // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp → control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_utils.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
-#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -28,7 +28,7 @@
 #include <utility>
 #include <vector>
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 namespace utils
 {
@@ -84,6 +84,6 @@ double curvatureFromThreePoints(
   std::array<double, 2> const & c);
 
 }  // namespace utils
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis
 
-#endif  // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_

control/control_performance_analysis/launch/control_performance_analysis.launch.xml → control/autoware_control_performance_analysis/launch/control_performance_analysis.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml"/>
+  <arg name="control_performance_analysis_param_path" default="$(find-pkg-share autoware_control_performance_analysis)/config/control_performance_analysis.param.yaml"/>
   <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
   <arg name="input/control_raw" default="/control/command/control_cmd"/>
   <arg name="input/measured_steering" default="/vehicle/status/steering_status"/>
@@ -10,7 +10,7 @@
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>
 
-  <node pkg="control_performance_analysis" exec="control_performance_analysis_exe" name="control_performance_analysis_exe" output="screen">
+  <node pkg="autoware_control_performance_analysis" exec="autoware_control_performance_analysis_node" name="autoware_control_performance_analysis" output="screen">
     <param from="$(var control_performance_analysis_param_path)"/>
     <param from="$(var vehicle_info_param_file)"/>
 

control/autoware_control_performance_analysis/msg/DrivingMonitorStamped.msg

@@ -0,0 +1,6 @@
+autoware_control_performance_analysis/FloatStamped longitudinal_acceleration
+autoware_control_performance_analysis/FloatStamped longitudinal_jerk
+autoware_control_performance_analysis/FloatStamped lateral_acceleration
+autoware_control_performance_analysis/FloatStamped lateral_jerk
+autoware_control_performance_analysis/FloatStamped desired_steering_angle
+autoware_control_performance_analysis/FloatStamped controller_processing_time

control/autoware_control_performance_analysis/msg/ErrorStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_control_performance_analysis/Error error

control/control_performance_analysis/package.xml → control/autoware_control_performance_analysis/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>control_performance_analysis</name>
+  <name>autoware_control_performance_analysis</name>
   <version>0.40.0</version>
   <description>Controller Performance Evaluation</description>
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
@@ -12,6 +12,7 @@
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
 
   <license>Apache License 2.0</license>
 

control/control_performance_analysis/src/control_performance_analysis_core.cpp → control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_performance_analysis/control_performance_analysis_core.hpp"
+#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
 
 #include "autoware/motion_utils/trajectory/interpolation.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
@@ -25,14 +25,15 @@
 #include <utility>
 #include <vector>
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 using geometry_msgs::msg::Quaternion;
 
 ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore()
 {
-  prev_target_vars_ = std::make_unique<msg::ErrorStamped>();
-  prev_driving_vars_ = std::make_unique<msg::DrivingMonitorStamped>();
+  prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
+  prev_driving_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
   odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
   p_.odom_interval_ = 0;
   p_.curvature_interval_length_ = 10.0;
@@ -46,8 +47,9 @@
 ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore(Params & p) : p_{p}
 {
   // prepare control performance struct
-  prev_target_vars_ = std::make_unique<msg::ErrorStamped>();
-  prev_driving_vars_ = std::make_unique<msg::DrivingMonitorStamped>();
+  prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
+  prev_driving_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
   odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
 }
 
@@ -251,7 +253,8 @@
     lpf(error.error_energy, prev_error.error_energy);
   }
 
-  prev_target_vars_ = std::make_unique<msg::ErrorStamped>(error_vars);
+  prev_target_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>(error_vars);
 
   return true;
 }
@@ -336,7 +339,9 @@
         lpf(curr.desired_steering_angle.data, prev->desired_steering_angle.data);
       }
 
-      prev_driving_vars_ = std::make_unique<msg::DrivingMonitorStamped>(driving_status_vars);
+      prev_driving_vars_ =
+        std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>(
+          driving_status_vars);
 
       last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp;
       last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp;
@@ -544,4 +549,4 @@
 
   return curvature_pure_pursuit;
 }
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis

control/control_performance_analysis/src/control_performance_analysis_node.cpp → control/autoware_control_performance_analysis/src/control_performance_analysis_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_performance_analysis/control_performance_analysis_node.hpp"
+#include "autoware/control_performance_analysis/control_performance_analysis_node.hpp"
 
-#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
-#include "control_performance_analysis/msg/error_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
 
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
@@ -25,18 +25,18 @@
 namespace
 {
 using autoware_control_msgs::msg::Control;
-using control_performance_analysis::msg::DrivingMonitorStamped;
-using control_performance_analysis::msg::ErrorStamped;
+using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
+using autoware_control_performance_analysis::msg::ErrorStamped;
 
 }  // namespace
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 using autoware::vehicle_info_utils::VehicleInfoUtils;
 
 ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
   const rclcpp::NodeOptions & node_options)
-: Node("control_performance_analysis", node_options)
+: Node("autoware_control_performance_analysis", node_options)
 {
   using std::placeholders::_1;
 
@@ -195,7 +195,8 @@
 
   return check_condition;
 }
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(control_performance_analysis::ControlPerformanceAnalysisNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::control::control_performance_analysis::ControlPerformanceAnalysisNode)

control/control_performance_analysis/src/control_performance_analysis_utils.cpp → control/autoware_control_performance_analysis/src/control_performance_analysis_utils.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_performance_analysis/control_performance_analysis_utils.hpp"
+#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
 
 #include <algorithm>
 
-namespace control_performance_analysis
+namespace autoware::control::control_performance_analysis
 {
 namespace utils
 {
@@ -26,4 +26,4 @@ double determinant(std::array<double, 2> const & a, std::array<double, 2> const
 }
 
 }  // namespace utils
-}  // namespace control_performance_analysis
+}  // namespace autoware::control::control_performance_analysis