diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6333b479b5696..277255d529fe7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -99,7 +99,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 9083a6570d33b..94bf98f272487 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -7,7 +7,7 @@ It receives roughly estimated initial pose from GNSS/user. Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service. Finally, it publishes the initial pose to `ekf_localizer`. This node depends on the map height fitter library. -[See here for more details.](../../map/map_height_fitter/README.md) +[See here for more details.](../../map/autoware_map_height_fitter/README.md) ## Interfaces diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml index ca4aa032fc7f9..e1f1233b8b4f5 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/pose_initializer/package.xml @@ -19,13 +19,13 @@ ament_cmake autoware_cmake + autoware_map_height_fitter autoware_motion_utils autoware_universe_utils component_interface_specs component_interface_utils geometry_msgs localization_util - map_height_fitter rclcpp rclcpp_components std_srvs diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp b/localization/pose_initializer/src/pose_initializer/gnss_module.hpp index fd490b00d0f70..bb3f6933c2aaa 100644 --- a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp +++ b/localization/pose_initializer/src/pose_initializer/gnss_module.hpp @@ -15,7 +15,7 @@ #ifndef POSE_INITIALIZER__GNSS_MODULE_HPP_ #define POSE_INITIALIZER__GNSS_MODULE_HPP_ -#include +#include #include #include @@ -32,7 +32,7 @@ class GnssModule private: void on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg); - map_height_fitter::MapHeightFitter fitter_; + autoware::map_height_fitter::MapHeightFitter fitter_; rclcpp::Clock::SharedPtr clock_; rclcpp::Subscription::SharedPtr sub_gnss_pose_; PoseWithCovarianceStamped::ConstSharedPtr pose_; diff --git a/map/map_height_fitter/CMakeLists.txt b/map/autoware_map_height_fitter/CMakeLists.txt similarity index 74% rename from map/map_height_fitter/CMakeLists.txt rename to map/autoware_map_height_fitter/CMakeLists.txt index 9485ed3fa54cd..5e26a25af3a1d 100644 --- a/map/map_height_fitter/CMakeLists.txt +++ b/map/autoware_map_height_fitter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_height_fitter) +project(autoware_map_height_fitter) find_package(autoware_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common) @@ -9,14 +9,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/map_height_fitter.cpp src/map_height_fitter_node.cpp ) -target_link_libraries(map_height_fitter ${PCL_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) # When adding `autoware_lanelet2_extension` to package.xml, many warnings are generated. # These are treated as errors in compile, so pedantic warnings are disabled for this package. -target_compile_options(map_height_fitter PRIVATE -Wno-pedantic) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-pedantic) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "MapHeightFitterNode" + PLUGIN "autoware::map_height_fitter::MapHeightFitterNode" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/map/map_height_fitter/README.md b/map/autoware_map_height_fitter/README.md similarity index 87% rename from map/map_height_fitter/README.md rename to map/autoware_map_height_fitter/README.md index 7da70a0ff7766..a61760b142615 100644 --- a/map/map_height_fitter/README.md +++ b/map/autoware_map_height_fitter/README.md @@ -1,4 +1,4 @@ -# map_height_fitter +# autoware_map_height_fitter This library fits the given point with the ground of the point cloud map. The map loading operation is switched by the parameter `enable_partial_load` of the node specified by `map_loader_name`. @@ -6,7 +6,7 @@ The node using this library must use multi thread executor. ## Parameters -{{ json_to_markdown("map/map_height_fitter/schema/map_height_fitter.schema.json") }} +{{ json_to_markdown("map/autoware_map_height_fitter/schema/map_height_fitter.schema.json") }} ## Topic subscription diff --git a/map/map_height_fitter/config/map_height_fitter.param.yaml b/map/autoware_map_height_fitter/config/map_height_fitter.param.yaml similarity index 100% rename from map/map_height_fitter/config/map_height_fitter.param.yaml rename to map/autoware_map_height_fitter/config/map_height_fitter.param.yaml diff --git a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp b/map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp similarity index 82% rename from map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp rename to map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp index 46baffa270108..e8ab0eef931a3 100644 --- a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp +++ b/map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ -#define MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#ifndef AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#define AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace map_height_fitter +namespace autoware::map_height_fitter { using geometry_msgs::msg::Point; @@ -44,6 +44,6 @@ class MapHeightFitter final std::unique_ptr impl_; }; -} // namespace map_height_fitter +} // namespace autoware::map_height_fitter -#endif // MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#endif // AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml similarity index 60% rename from map/map_height_fitter/launch/map_height_fitter.launch.xml rename to map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml index 3e01a35a8e519..fa613d102b496 100644 --- a/map/map_height_fitter/launch/map_height_fitter.launch.xml +++ b/map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/map/map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml similarity index 93% rename from map/map_height_fitter/package.xml rename to map/autoware_map_height_fitter/package.xml index 36e5814365c3f..17f2e95edb159 100644 --- a/map/map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -1,9 +1,9 @@ - map_height_fitter + autoware_map_height_fitter 0.1.0 - The map_height_fitter package + The autoware_map_height_fitter package Takagi, Isamu Yamato Ando Masahiro Sakamoto diff --git a/map/map_height_fitter/schema/map_height_fitter.schema.json b/map/autoware_map_height_fitter/schema/map_height_fitter.schema.json similarity index 100% rename from map/map_height_fitter/schema/map_height_fitter.schema.json rename to map/autoware_map_height_fitter/schema/map_height_fitter.schema.json diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/autoware_map_height_fitter/src/map_height_fitter.cpp similarity index 98% rename from map/map_height_fitter/src/map_height_fitter.cpp rename to map/autoware_map_height_fitter/src/map_height_fitter.cpp index c9e199ad88422..732f13e375f05 100644 --- a/map/map_height_fitter/src/map_height_fitter.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_height_fitter/map_height_fitter.hpp" +#include "autoware/map_height_fitter/map_height_fitter.hpp" #include #include @@ -31,7 +31,7 @@ #include -namespace map_height_fitter +namespace autoware::map_height_fitter { struct MapHeightFitter::Impl @@ -285,4 +285,4 @@ std::optional MapHeightFitter::fit(const Point & position, const std::str return impl_->fit(position, frame); } -} // namespace map_height_fitter +} // namespace autoware::map_height_fitter diff --git a/map/map_height_fitter/src/map_height_fitter_node.cpp b/map/autoware_map_height_fitter/src/map_height_fitter_node.cpp similarity index 88% rename from map/map_height_fitter/src/map_height_fitter_node.cpp rename to map/autoware_map_height_fitter/src/map_height_fitter_node.cpp index fdc7604b68855..99e55c26094b7 100644 --- a/map/map_height_fitter/src/map_height_fitter_node.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter_node.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_height_fitter/map_height_fitter.hpp" +#include "autoware/map_height_fitter/map_height_fitter.hpp" #include #include +namespace autoware::map_height_fitter +{ using tier4_localization_msgs::srv::PoseWithCovarianceStamped; class MapHeightFitterNode : public rclcpp::Node @@ -46,6 +48,7 @@ class MapHeightFitterNode : public rclcpp::Node map_height_fitter::MapHeightFitter fitter_; rclcpp::Service::SharedPtr srv_; }; +} // namespace autoware::map_height_fitter #include -RCLCPP_COMPONENTS_REGISTER_NODE(MapHeightFitterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_height_fitter::MapHeightFitterNode) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/README.md b/system/default_ad_api_helpers/ad_api_adaptors/README.md index 2e299fd7a2e51..c04503bee70fd 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/README.md +++ b/system/default_ad_api_helpers/ad_api_adaptors/README.md @@ -5,7 +5,7 @@ This node makes it easy to use the localization AD API from RViz. When a initial pose topic is received, call the localization initialize API. This node depends on the map height fitter library. -[See here for more details.](../../../map/map_height_fitter/README.md) +[See here for more details.](../../../map/autoware_map_height_fitter/README.md) | Interface | Local Name | Global Name | Description | | ------------ | ----------- | ---------------------------- | ----------------------------------------- | diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index b070131f1d567..a395eadbe3d2d 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -14,8 +14,8 @@ autoware_ad_api_specs autoware_adapi_v1_msgs + autoware_map_height_fitter component_interface_utils - map_height_fitter rclcpp rclcpp_components diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index 340bc3b0a3058..e5b8d0e33dd3b 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -15,9 +15,9 @@ #ifndef INITIAL_POSE_ADAPTOR_HPP_ #define INITIAL_POSE_ADAPTOR_HPP_ +#include #include #include -#include #include #include @@ -36,7 +36,7 @@ class InitialPoseAdaptor : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_initial_pose_; component_interface_utils::Client::SharedPtr cli_initialize_; std::array rviz_particle_covariance_; - map_height_fitter::MapHeightFitter fitter_; + autoware::map_height_fitter::MapHeightFitter fitter_; void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg); };