refactor(map_height_fitter)!: prefix package and namespace with autow…

…are (autowarefoundation#8421) * add autoware_ prefix Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * remove duplicated dependency Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro <[email protected]>
ktro2828 · Sep 18, 2024 · e0d6995 · e0d6995
1 parent 9ef23ab
commit e0d6995
Show file tree

Hide file tree

Showing 16 changed files with 32 additions and 29 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -99,7 +99,7 @@ localization/yabloc/yabloc_image_processing/** [email protected] kento.yabuu
 localization/yabloc/yabloc_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_particle_filter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-map/map_height_fitter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+map/autoware_map_height_fitter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 map/map_loader/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 map/map_projection_loader/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 map/autoware_map_tf_generator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git 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
@@ -19,13 +19,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_map_height_fitter</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>localization_util</depend>
-  <depend>map_height_fitter</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>

diff --git 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 <map_height_fitter/map_height_fitter.hpp>
+#include <autoware/map_height_fitter/map_height_fitter.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -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<PoseWithCovarianceStamped>::SharedPtr sub_gnss_pose_;
   PoseWithCovarianceStamped::ConstSharedPtr pose_;

diff --git a/map/map_height_fitter/CMakeLists.txt → ...autoware_map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt → ...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 `<depend>autoware_lanelet2_extension</depend>` 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 → map/autoware_map_height_fitter/README.md b/map/map_height_fitter/README.md → map/autoware_map_height_fitter/README.md
@@ -1,12 +1,12 @@
-# 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`.
 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/...itter/config/map_height_fitter.param.yaml → ...itter/config/map_height_fitter.param.yaml b/...itter/config/map_height_fitter.param.yaml → ...itter/config/map_height_fitter.param.yaml
diff --git a/...e/map_height_fitter/map_height_fitter.hpp → ...e/map_height_fitter/map_height_fitter.hpp b/...e/map_height_fitter/map_height_fitter.hpp → ...e/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 <rclcpp/rclcpp.hpp>
 
@@ -23,7 +23,7 @@
 #include <optional>
 #include <string>
 
-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> 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/...itter/launch/map_height_fitter.launch.xml → ...itter/launch/map_height_fitter.launch.xml b/...itter/launch/map_height_fitter.launch.xml → ...itter/launch/map_height_fitter.launch.xml
@@ -1,9 +1,9 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share map_height_fitter)/config/map_height_fitter.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_map_height_fitter)/config/map_height_fitter.param.yaml"/>
 
   <group>
     <push-ros-namespace namespace="map"/>
-    <node pkg="map_height_fitter" exec="map_height_fitter_node" output="both">
+    <node pkg="autoware_map_height_fitter" exec="autoware_map_height_fitter_node" output="both">
       <param from="$(var param_path)"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>

diff --git a/map/map_height_fitter/package.xml → map/autoware_map_height_fitter/package.xml b/map/map_height_fitter/package.xml → map/autoware_map_height_fitter/package.xml
@@ -1,9 +1,9 @@
 <?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>map_height_fitter</name>
+  <name>autoware_map_height_fitter</name>
   <version>0.1.0</version>
-  <description>The map_height_fitter package</description>
+  <description>The autoware_map_height_fitter package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <maintainer email="[email protected]">Yamato Ando</maintainer>
   <maintainer email="[email protected]">Masahiro Sakamoto</maintainer>

diff --git a/...tter/schema/map_height_fitter.schema.json → ...tter/schema/map_height_fitter.schema.json b/...tter/schema/map_height_fitter.schema.json → ...tter/schema/map_height_fitter.schema.json
diff --git a/...p_height_fitter/src/map_height_fitter.cpp → ...p_height_fitter/src/map_height_fitter.cpp b/...p_height_fitter/src/map_height_fitter.cpp → ...p_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 <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>
@@ -31,7 +31,7 @@
 
 #include <memory>
 
-namespace map_height_fitter
+namespace autoware::map_height_fitter
 {
 
 struct MapHeightFitter::Impl
@@ -285,4 +285,4 @@ std::optional<Point> 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/...ght_fitter/src/map_height_fitter_node.cpp → ...ght_fitter/src/map_height_fitter_node.cpp b/...ght_fitter/src/map_height_fitter_node.cpp → ...ght_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 <tier4_localization_msgs/srv/pose_with_covariance_stamped.hpp>
 
 #include <memory>
 
+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<PoseWithCovarianceStamped>::SharedPtr srv_;
 };
+}  // namespace autoware::map_height_fitter
 
 #include <rclcpp_components/register_node_macro.hpp>
-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
@@ -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
@@ -14,8 +14,8 @@
 
   <depend>autoware_ad_api_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_map_height_fitter</depend>
   <depend>component_interface_utils</depend>
-  <depend>map_height_fitter</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
 

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
@@ -15,9 +15,9 @@
 #ifndef INITIAL_POSE_ADAPTOR_HPP_
 #define INITIAL_POSE_ADAPTOR_HPP_
 
+#include <autoware/map_height_fitter/map_height_fitter.hpp>
 #include <autoware_ad_api_specs/localization.hpp>
 #include <component_interface_utils/rclcpp.hpp>
-#include <map_height_fitter/map_height_fitter.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -36,7 +36,7 @@ class InitialPoseAdaptor : public rclcpp::Node
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_initial_pose_;
   component_interface_utils::Client<Initialize>::SharedPtr cli_initialize_;
   std::array<double, 36> rviz_particle_covariance_;
-  map_height_fitter::MapHeightFitter fitter_;
+  autoware::map_height_fitter::MapHeightFitter fitter_;
 
   void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
 };