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);
};