refactor(pose_estimator_arbiter)!: prefix package and namespace with …

…autoware (autowarefoundation#8386) * add autoware_ prefix Signed-off-by: a-maumau <[email protected]> * add autoware_ prefix Signed-off-by: a-maumau <[email protected]> * fix link for landmark_based_localizer Signed-off-by: a-maumau <[email protected]> * remove Shadowing Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: SakodaShintaro <[email protected]>
a-maumau · Sep 2, 2024 · 187fc81 · 187fc81
1 parent bfadfae
commit 187fc81
Show file tree

Hide file tree

Showing 38 changed files with 205 additions and 201 deletions.
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -93,7 +93,7 @@
 
   <!-- Pose Estimator Arbiter Launch -->
   <group if="$(var multi_localizer_mode)">
-    <include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
+    <include file="$(find-pkg-share autoware_pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
       <arg name="pose_sources" value="$(var pose_sources)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     </include>

diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
@@ -22,12 +22,12 @@
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
-  <exec_depend>pose_estimator_arbiter</exec_depend>
   <exec_depend>pose_initializer</exec_depend>
   <exec_depend>pose_instability_detector</exec_depend>
   <exec_depend>topic_tools</exec_depend>

diff --git a/...ion/pose_estimator_arbiter/CMakeLists.txt → ...are_pose_estimator_arbiter/CMakeLists.txt b/...ion/pose_estimator_arbiter/CMakeLists.txt → ...are_pose_estimator_arbiter/CMakeLists.txt
@@ -1,22 +1,25 @@
 cmake_minimum_required(VERSION 3.14)
-project(pose_estimator_arbiter)
+project(autoware_pose_estimator_arbiter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(PCL REQUIRED COMPONENTS common)
-include_directories(SYSTEM ${PCL_INCLUDE_DIRS})
+include_directories(
+  SYSTEM ${PCL_INCLUDE_DIRS}
+  src
+)
 
 # ==============================
 # pose estimator arbiter node
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
-  src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
+  src/pose_estimator_arbiter_core.cpp
+  src/switch_rule/enable_all_rule.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC src)
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "pose_estimator_arbiter::PoseEstimatorArbiter"
+  PLUGIN "autoware::pose_estimator_arbiter::PoseEstimatorArbiter"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

diff --git a/...lization/pose_estimator_arbiter/README.md → ...autoware_pose_estimator_arbiter/README.md b/...lization/pose_estimator_arbiter/README.md → ...autoware_pose_estimator_arbiter/README.md
@@ -1,4 +1,4 @@
-# pose_estimator_arbiter
+# autoware_pose_estimator_arbiter
 
 Table of contents:
 
@@ -35,7 +35,7 @@ Also, even if both can be activated at the same time, the Kalman Filter may be a
 - [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher)
 - [eagleye](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/localization/eagleye/)
 - [yabloc](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/yabloc)
-- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/landmark_based_localizer)
+- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_landmark_based_localizer)
 
 ### Demonstration
 
@@ -117,8 +117,8 @@ If it does not seems to work, users can get more information in the following wa
 > [!TIP]
 >
 > ```bash
-> ros2 service call /localization/pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \
->   '{logger_name: localization.pose_estimator_arbiter, level: debug}'
+> ros2 service call /localization/autoware_pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \
+>   '{logger_name: localization.autoware_pose_estimator_arbiter, level: debug}'
 > ```
 
 ## Architecture
@@ -135,7 +135,7 @@ Following figure shows the node configuration when NDT, YabLoc Eagleye and AR-Ta
 
 ### Case of running multiple pose estimators
 
-When running multiple pose_estimators, pose_estimator_arbiter is executed.
+When running multiple pose_estimators, autoware_pose_estimator_arbiter is executed.
 It comprises a **switching rule** and **stoppers** corresponding to each pose_estimator.
 
 - Stoppers control the pose_estimator activity by relaying inputs or outputs, or by requesting a suspend service.
@@ -187,14 +187,14 @@ ros2 launch autoware_launch logging_simulator.launch.xml \
 Even if `pose_source` includes an unexpected string, it will be filtered appropriately.
 Please see the table below for details.
 
-| given runtime argument                      | parsed pose_estimator_arbiter's param (pose_sources) |
-| ------------------------------------------- | ---------------------------------------------------- |
-| `pose_source:=ndt`                          | `["ndt"]`                                            |
-| `pose_source:=nan`                          | `[]`                                                 |
-| `pose_source:=yabloc_ndt`                   | `["ndt","yabloc"]`                                   |
-| `pose_source:=yabloc_ndt_ndt_ndt`           | `["ndt","yabloc"]`                                   |
-| `pose_source:=ndt_yabloc_eagleye`           | `["ndt","yabloc","eagleye"]`                         |
-| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]`                 |
+| given runtime argument                      | parsed autoware_pose_estimator_arbiter's param (pose_sources) |
+| ------------------------------------------- | ------------------------------------------------------------- |
+| `pose_source:=ndt`                          | `["ndt"]`                                                     |
+| `pose_source:=nan`                          | `[]`                                                          |
+| `pose_source:=yabloc_ndt`                   | `["ndt","yabloc"]`                                            |
+| `pose_source:=yabloc_ndt_ndt_ndt`           | `["ndt","yabloc"]`                                            |
+| `pose_source:=ndt_yabloc_eagleye`           | `["ndt","yabloc","eagleye"]`                                  |
+| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]`                          |
 
 </details>
 

diff --git a/...mator_arbiter/example_rule/CMakeLists.txt → ...mator_arbiter/example_rule/CMakeLists.txt b/...mator_arbiter/example_rule/CMakeLists.txt → ...mator_arbiter/example_rule/CMakeLists.txt
@@ -1,13 +1,13 @@
 # example switch rule library
 ament_auto_add_library(example_rule
   SHARED
-  src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
-  src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
-  src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
-  src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
+  src/switch_rule/pcd_map_based_rule.cpp
+  src/switch_rule/vector_map_based_rule.cpp
+  src/rule_helper/pcd_occupancy.cpp
+  src/rule_helper/pose_estimator_area.cpp
 )
 target_include_directories(example_rule PUBLIC src example_rule/src)
-target_link_libraries(example_rule pose_estimator_arbiter)
+target_link_libraries(example_rule autoware_pose_estimator_arbiter)
 
 # ==============================
 # define test definition macro
@@ -16,7 +16,7 @@ function(add_testcase filepath)
   string(REGEX REPLACE ".cpp" "" test_name ${filename})
 
   ament_add_gtest(${test_name} ${filepath})
-  target_link_libraries("${test_name}" pose_estimator_arbiter example_rule)
+  target_link_libraries("${test_name}" autoware_pose_estimator_arbiter example_rule)
   target_include_directories(${test_name} PUBLIC src)
   ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
 endfunction()

diff --git a/..._estimator_arbiter/example_rule/README.md → ..._estimator_arbiter/example_rule/README.md b/..._estimator_arbiter/example_rule/README.md → ..._estimator_arbiter/example_rule/README.md
diff --git a/...stimator_arbiter/rule_helper/grid_key.hpp → ...example_rule/src/rule_helper/grid_key.hpp b/...stimator_arbiter/rule_helper/grid_key.hpp → ...example_rule/src/rule_helper/grid_key.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
+#ifndef RULE_HELPER__GRID_KEY_HPP_
+#define RULE_HELPER__GRID_KEY_HPP_
 #include <boost/functional/hash.hpp>
 
 #include <pcl/point_types.h>
 
 #include <functional>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 struct GridKey
 {
@@ -46,16 +46,16 @@ struct GridKey
   friend bool operator!=(const GridKey & one, const GridKey & other) { return !(one == other); }
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
 // This is for unordered_map and unordered_set
 namespace std
 {
 template <>
-struct hash<pose_estimator_arbiter::rule_helper::GridKey>
+struct hash<autoware::pose_estimator_arbiter::rule_helper::GridKey>
 {
 public:
-  size_t operator()(const pose_estimator_arbiter::rule_helper::GridKey & grid) const
+  size_t operator()(const autoware::pose_estimator_arbiter::rule_helper::GridKey & grid) const
   {
     std::size_t seed = 0;
     boost::hash_combine(seed, grid.x);
@@ -65,4 +65,4 @@ struct hash<pose_estimator_arbiter::rule_helper::GridKey>
 };
 }  // namespace std
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
+#endif  // RULE_HELPER__GRID_KEY_HPP_
diff --git a/...tor_arbiter/rule_helper/pcd_occupancy.cpp → ...le_rule/src/rule_helper/pcd_occupancy.cpp b/...tor_arbiter/rule_helper/pcd_occupancy.cpp → ...le_rule/src/rule_helper/pcd_occupancy.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
+#include "rule_helper/pcd_occupancy.hpp"
 
-#include "pose_estimator_arbiter/rule_helper/grid_key.hpp"
+#include "rule_helper/grid_key.hpp"
 
 #include <boost/functional/hash.hpp>
 
@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 PcdOccupancy::PcdOccupancy(int pcd_density_upper_threshold, int pcd_density_lower_threshold)
 : pcd_density_upper_threshold_(pcd_density_upper_threshold),
@@ -114,4 +114,4 @@ void PcdOccupancy::init(PointCloud2::ConstSharedPtr msg)
   kdtree_->setInputCloud(occupied_areas_);
 }
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
diff --git a/...tor_arbiter/rule_helper/pcd_occupancy.hpp → ...le_rule/src/rule_helper/pcd_occupancy.hpp b/...tor_arbiter/rule_helper/pcd_occupancy.hpp → ...le_rule/src/rule_helper/pcd_occupancy.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
+#ifndef RULE_HELPER__PCD_OCCUPANCY_HPP_
+#define RULE_HELPER__PCD_OCCUPANCY_HPP_
 
 #include <rclcpp/node.hpp>
 
@@ -26,7 +26,7 @@
 
 #include <string>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 class PcdOccupancy
 {
@@ -49,6 +49,6 @@ class PcdOccupancy
   pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr kdtree_{nullptr};
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
+#endif  // RULE_HELPER__PCD_OCCUPANCY_HPP_
diff --git a/...biter/rule_helper/pose_estimator_area.cpp → ...e/src/rule_helper/pose_estimator_area.cpp b/...biter/rule_helper/pose_estimator_area.cpp → ...e/src/rule_helper/pose_estimator_area.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"
+#include "rule_helper/pose_estimator_area.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
@@ -26,7 +26,7 @@
 #include <unordered_set>
 #include <vector>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 using BoostPoint = boost::geometry::model::d2::point_xy<double>;
 using BoostPolygon = boost::geometry::model::polygon<BoostPoint>;
@@ -141,4 +141,4 @@ bool PoseEstimatorArea::Impl::within(
   }
   return false;
 }
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
diff --git a/...biter/rule_helper/pose_estimator_area.hpp → ...e/src/rule_helper/pose_estimator_area.hpp b/...biter/rule_helper/pose_estimator_area.hpp → ...e/src/rule_helper/pose_estimator_area.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#ifndef RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#define RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
 
 #include <rclcpp/logger.hpp>
 #include <rclcpp/node.hpp>
@@ -25,7 +25,7 @@
 #include <memory>
 #include <string>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 class PoseEstimatorArea
 {
@@ -51,6 +51,6 @@ class PoseEstimatorArea
   rclcpp::Logger logger_;
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#endif  // RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
diff --git a/...rbiter/switch_rule/pcd_map_based_rule.cpp → ...le/src/switch_rule/pcd_map_based_rule.cpp b/...rbiter/switch_rule/pcd_map_based_rule.cpp → ...le/src/switch_rule/pcd_map_based_rule.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp"
+#include "switch_rule/pcd_map_based_rule.hpp"
 
 #include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <utility>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 PcdMapBasedRule::PcdMapBasedRule(
   rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
@@ -77,4 +77,4 @@ std::unordered_map<PoseEstimatorType, bool> PcdMapBasedRule::update()
     {PoseEstimatorType::artag, false}};
 }
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
diff --git a/...rbiter/switch_rule/pcd_map_based_rule.hpp → ...le/src/switch_rule/pcd_map_based_rule.hpp b/...rbiter/switch_rule/pcd_map_based_rule.hpp → ...le/src/switch_rule/pcd_map_based_rule.hpp
@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
-#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#ifndef SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#define SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
 
-#include "pose_estimator_arbiter/pose_estimator_type.hpp"
-#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
-#include "pose_estimator_arbiter/shared_data.hpp"
-#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
+#include "pose_estimator_type.hpp"
+#include "rule_helper/pcd_occupancy.hpp"
+#include "shared_data.hpp"
+#include "switch_rule/base_switch_rule.hpp"
 
 #include <memory>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 class PcdMapBasedRule : public BaseSwitchRule
 {
@@ -49,6 +49,6 @@ class PcdMapBasedRule : public BaseSwitchRule
   // Store the reason why which pose estimator is enabled
   mutable std::string debug_string_;
 };
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
 
-#endif  // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#endif  // SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
diff --git a/...ter/switch_rule/vector_map_based_rule.cpp → ...src/switch_rule/vector_map_based_rule.cpp b/...ter/switch_rule/vector_map_based_rule.cpp → ...src/switch_rule/vector_map_based_rule.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp"
+#include "switch_rule/vector_map_based_rule.hpp"
 
 #include <magic_enum.hpp>
 
 #include <utility>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 VectorMapBasedRule::VectorMapBasedRule(
   rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
@@ -76,4 +76,4 @@ std::unordered_map<PoseEstimatorType, bool> VectorMapBasedRule::update()
   return enable_list;
 }
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule