From 0a4b548518134811f4505ce80ef1230d3760acaf Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 5 Jun 2024 00:55:26 +0900 Subject: [PATCH] feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (#7241) Signed-off-by: Ryohsuke Mitsudome Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan --- evaluator/kinematic_evaluator/package.xml | 3 +-- evaluator/localization_evaluator/package.xml | 3 +-- evaluator/perception_online_evaluator/README.md | 10 +++++----- .../metrics/detection_count.hpp | 8 ++++---- .../metrics/deviation_metrics.hpp | 4 ++-- .../metrics_calculator.hpp | 8 ++++---- .../perception_online_evaluator_node.hpp | 6 +++--- .../utils/marker_utils.hpp | 4 ++-- .../utils/objects_filtering.hpp | 12 ++++++------ .../test/test_perception_online_evaluator_node.cpp | 12 ++++++------ evaluator/planning_evaluator/README.md | 10 +++++----- .../metrics/deviation_metrics.hpp | 8 ++++---- .../planning_evaluator/metrics/metrics_utils.hpp | 6 +++--- .../metrics/obstacle_metrics.hpp | 8 ++++---- .../metrics/stability_metrics.hpp | 4 ++-- .../metrics/trajectory_metrics.hpp | 8 ++++---- .../planning_evaluator/metrics_calculator.hpp | 12 ++++++------ .../planning_evaluator/motion_evaluator_node.hpp | 8 ++++---- .../planning_evaluator/planning_evaluator_node.hpp | 13 ++++++------- evaluator/planning_evaluator/package.xml | 3 +-- .../src/metrics/deviation_metrics.cpp | 4 ++-- .../src/metrics/metrics_utils.cpp | 4 ++-- .../src/metrics/obstacle_metrics.cpp | 4 ++-- .../src/metrics/stability_metrics.cpp | 4 ++-- .../test/test_planning_evaluator_node.cpp | 14 +++++++------- 25 files changed, 88 insertions(+), 92 deletions(-) diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index 7129221f6c27b..1b62b06e57c9f 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -17,8 +17,7 @@ ament_cmake_auto autoware_cmake - autoware_auto_perception_msgs - autoware_auto_planning_msgs + autoware_planning_msgs diagnostic_msgs eigen geometry_msgs diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index 075bc83a1f985..ac52f9fe94d5e 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -12,8 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_auto_perception_msgs - autoware_auto_planning_msgs + autoware_planning_msgs diagnostic_msgs eigen geometry_msgs diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index 7ee93d2ffddf2..7df375ac236d0 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -155,11 +155,11 @@ where: ## Inputs / Outputs -| Name | Type | Description | -| ----------------- | ------------------------------------------------------ | ------------------------------------------------- | -| `~/input/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | -| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic information about perception accuracy. | -| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | +| Name | Type | Description | +| ----------------- | ------------------------------------------------- | ------------------------------------------------- | +| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | +| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic information about perception accuracy. | +| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | ## Parameters diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp index 5715f22669fdc..010f1497da3da 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp @@ -21,8 +21,8 @@ #include -#include "autoware_auto_perception_msgs/msg/object_classification.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_perception_msgs/msg/object_classification.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include #include @@ -37,8 +37,8 @@ namespace perception_diagnostics { namespace metrics { -using autoware_auto_perception_msgs::msg::ObjectClassification; -using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObjects; struct DetectionRange { diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp index da7a23b6980b6..b480eaa3e67d6 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp @@ -17,7 +17,7 @@ #include "perception_online_evaluator/stat.hpp" -#include +#include #include #include @@ -26,7 +26,7 @@ namespace perception_diagnostics { namespace metrics { -using autoware_auto_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::PredictedPath; using geometry_msgs::msg::Pose; /** diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp index 96b1c01ee2d16..ec435b0a5e17f 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp @@ -25,8 +25,8 @@ #include -#include "autoware_auto_perception_msgs/msg/object_classification.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_perception_msgs/msg/object_classification.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "geometry_msgs/msg/pose.hpp" #include @@ -41,8 +41,8 @@ namespace perception_diagnostics { -using autoware_auto_perception_msgs::msg::PredictedObject; -using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using metrics::DetectionCounter; diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp index e5c41ff28c4da..daaea56178873 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -22,7 +22,7 @@ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "nav_msgs/msg/odometry.hpp" #include "visualization_msgs/msg/marker_array.hpp" @@ -35,8 +35,8 @@ namespace perception_diagnostics { -using autoware_auto_perception_msgs::msg::ObjectClassification; -using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObjects; using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp index 0831d580248d3..be335a2d78fa3 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp @@ -17,7 +17,7 @@ #include -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include #include @@ -30,7 +30,7 @@ namespace marker_utils { -using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObject; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using std_msgs::msg::ColorRGBA; diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp index ee348b108d139..7adab46f42d2f 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp @@ -17,9 +17,9 @@ #include "perception_online_evaluator/parameters.hpp" -#include -#include -#include +#include +#include +#include #include #include @@ -34,9 +34,9 @@ namespace perception_diagnostics { -using autoware_auto_perception_msgs::msg::ObjectClassification; -using autoware_auto_perception_msgs::msg::PredictedObject; -using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; using ClassObjectsMap = std::unordered_map; diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index 95d6f07cca5d9..a408821466fb9 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -19,8 +19,8 @@ #include #include -#include -#include +#include +#include #include #include @@ -35,11 +35,11 @@ #include using EvalNode = perception_diagnostics::PerceptionOnlineEvaluatorNode; -using PredictedObjects = autoware_auto_perception_msgs::msg::PredictedObjects; -using PredictedObject = autoware_auto_perception_msgs::msg::PredictedObject; +using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; +using PredictedObject = autoware_perception_msgs::msg::PredictedObject; using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; using MarkerArray = visualization_msgs::msg::MarkerArray; -using ObjectClassification = autoware_auto_perception_msgs::msg::ObjectClassification; +using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; using nav_msgs::msg::Odometry; using TFMessage = tf2_msgs::msg::TFMessage; @@ -172,7 +172,7 @@ class EvalTest : public ::testing::Test object.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; object.kinematics.initial_twist_with_covariance.twist.linear.z = 0.0; - autoware_auto_perception_msgs::msg::PredictedPath path; + autoware_perception_msgs::msg::PredictedPath path; for (size_t i = 0; i < predicted_path.size(); ++i) { geometry_msgs::msg::Pose pose; pose.position.x = predicted_path[i].first; diff --git a/evaluator/planning_evaluator/README.md b/evaluator/planning_evaluator/README.md index 23c8101429c35..eeeba99da9b8b 100644 --- a/evaluator/planning_evaluator/README.md +++ b/evaluator/planning_evaluator/README.md @@ -48,11 +48,11 @@ Adding a new metric `M` requires the following steps: ### Inputs -| Name | Type | Description | -| ------------------------------ | ------------------------------------------------------ | ------------------------------------------------- | -| `~/input/trajectory` | `autoware_auto_planning_msgs::msg::Trajectory` | Main trajectory to evaluate | -| `~/input/reference_trajectory` | `autoware_auto_planning_msgs::msg::Trajectory` | Reference trajectory to use for deviation metrics | -| `~/input/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Obstacles | +| Name | Type | Description | +| ------------------------------ | ------------------------------------------------- | ------------------------------------------------- | +| `~/input/trajectory` | `autoware_planning_msgs::msg::Trajectory` | Main trajectory to evaluate | +| `~/input/reference_trajectory` | `autoware_planning_msgs::msg::Trajectory` | Reference trajectory to use for deviation metrics | +| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | Obstacles | ### Outputs diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp index 04a5b758d62e1..02464207801cb 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp @@ -17,15 +17,15 @@ #include "planning_evaluator/stat.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/metrics_utils.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/metrics_utils.hpp index 4806446d4270f..e3280187ccef7 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/metrics_utils.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/metrics_utils.hpp @@ -17,8 +17,8 @@ #include "planning_evaluator/stat.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" namespace planning_diagnostics { @@ -26,7 +26,7 @@ namespace metrics { namespace utils { -using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::Trajectory; /** * @brief find the index in the trajectory at the given distance of the given index diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/obstacle_metrics.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/obstacle_metrics.hpp index 848d92c91f13e..062ace8747253 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/obstacle_metrics.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/obstacle_metrics.hpp @@ -17,15 +17,15 @@ #include "planning_evaluator/stat.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" namespace planning_diagnostics { namespace metrics { -using autoware_auto_perception_msgs::msg::PredictedObjects; -using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_planning_msgs::msg::Trajectory; /** * @brief calculate the distance to the closest obstacle at each point of the trajectory diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/stability_metrics.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/stability_metrics.hpp index c4bf1fe901604..e6ae9222d4bb9 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/stability_metrics.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/stability_metrics.hpp @@ -17,13 +17,13 @@ #include "planning_evaluator/stat.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::Trajectory; /** * @brief calculate the discrete Frechet distance between two trajectories diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/trajectory_metrics.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/trajectory_metrics.hpp index b55ad245d8425..e88864016ca84 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/trajectory_metrics.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/trajectory_metrics.hpp @@ -17,15 +17,15 @@ #include "planning_evaluator/stat.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; /** * @brief calculate relative angle metric (angle between successive points) diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp index 851678e55d755..99ec5b787706b 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp @@ -18,20 +18,20 @@ #include "planning_evaluator/parameters.hpp" #include "planning_evaluator/stat.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "geometry_msgs/msg/pose.hpp" #include namespace planning_diagnostics { -using autoware_auto_perception_msgs::msg::PredictedObjects; -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; diff --git a/evaluator/planning_evaluator/include/planning_evaluator/motion_evaluator_node.hpp b/evaluator/planning_evaluator/include/planning_evaluator/motion_evaluator_node.hpp index 28a4b2cba8365..8e2561e3eaf0f 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/motion_evaluator_node.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/motion_evaluator_node.hpp @@ -21,8 +21,8 @@ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" #include @@ -33,8 +33,8 @@ namespace planning_diagnostics { -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; /** * @brief Node for planning evaluation diff --git a/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp b/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp index 888eea855295c..e02f833a67291 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp @@ -21,10 +21,10 @@ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "nav_msgs/msg/odometry.hpp" @@ -36,14 +36,13 @@ namespace planning_diagnostics { -using autoware_auto_perception_msgs::msg::PredictedObjects; -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; - /** * @brief Node for planning evaluation */ diff --git a/evaluator/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml index fb3270fb0d89b..cf91d7077d609 100644 --- a/evaluator/planning_evaluator/package.xml +++ b/evaluator/planning_evaluator/package.xml @@ -13,8 +13,7 @@ ament_cmake_auto autoware_cmake - autoware_auto_perception_msgs - autoware_auto_planning_msgs + autoware_perception_msgs autoware_planning_msgs diagnostic_msgs eigen diff --git a/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp index e1ad9c1a2eeec..e403b8415938d 100644 --- a/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp @@ -22,8 +22,8 @@ namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; Stat calcLateralDeviation(const Trajectory & ref, const Trajectory & traj) { diff --git a/evaluator/planning_evaluator/src/metrics/metrics_utils.cpp b/evaluator/planning_evaluator/src/metrics/metrics_utils.cpp index 6134a100f31a4..974f30223bff8 100644 --- a/evaluator/planning_evaluator/src/metrics/metrics_utils.cpp +++ b/evaluator/planning_evaluator/src/metrics/metrics_utils.cpp @@ -20,8 +20,8 @@ namespace metrics { namespace utils { -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_autoware_utils::calcDistance2d; size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance) diff --git a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp index 82d6dcc51097e..af4508a370ab6 100644 --- a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp @@ -18,7 +18,7 @@ #include -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" #include #include @@ -27,7 +27,7 @@ namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_autoware_utils::calcDistance2d; Stat calcDistanceToObstacle(const PredictedObjects & obstacles, const Trajectory & traj) diff --git a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp index 7a3418da881c6..c963c5e46aa43 100644 --- a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp @@ -19,7 +19,7 @@ #include -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/trajectory_point.hpp" #include @@ -27,7 +27,7 @@ namespace planning_diagnostics { namespace metrics { -using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::TrajectoryPoint; Stat calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2) { diff --git a/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp index 4f2ab014a79d6..e87b5c8ad35b7 100644 --- a/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp @@ -20,8 +20,8 @@ #include -#include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_perception_msgs/msg/predicted_objects.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" #include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" @@ -33,9 +33,9 @@ #include using EvalNode = planning_diagnostics::PlanningEvaluatorNode; -using Trajectory = autoware_auto_planning_msgs::msg::Trajectory; -using TrajectoryPoint = autoware_auto_planning_msgs::msg::TrajectoryPoint; -using Objects = autoware_auto_perception_msgs::msg::PredictedObjects; +using Trajectory = autoware_planning_msgs::msg::Trajectory; +using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; +using Objects = autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; using diagnostic_msgs::msg::DiagnosticArray; using nav_msgs::msg::Odometry; @@ -409,7 +409,7 @@ TEST_F(EvalTest, TestObstacleDistance) { setTargetMetric(planning_diagnostics::Metric::obstacle_distance); Objects objs; - autoware_auto_perception_msgs::msg::PredictedObject obj; + autoware_perception_msgs::msg::PredictedObject obj; obj.kinematics.initial_pose_with_covariance.pose.position.x = 0.0; obj.kinematics.initial_pose_with_covariance.pose.position.y = 0.0; objs.objects.push_back(obj); @@ -425,7 +425,7 @@ TEST_F(EvalTest, TestObstacleTTC) { setTargetMetric(planning_diagnostics::Metric::obstacle_ttc); Objects objs; - autoware_auto_perception_msgs::msg::PredictedObject obj; + autoware_perception_msgs::msg::PredictedObject obj; obj.kinematics.initial_pose_with_covariance.pose.position.x = 0.0; obj.kinematics.initial_pose_with_covariance.pose.position.y = 0.0; objs.objects.push_back(obj);