refactor(localization_error_monitor)!: prefix package and namespace w…

…ith autoware (autowarefoundation#8423) add autoware_ prefix Signed-off-by: a-maumau <[email protected]>
a-maumau · Aug 22, 2024 · 9202499 · 9202499
1 parent c83e3a1
commit 9202499
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Showing 15 changed files with 66 additions and 45 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -88,7 +88,7 @@ localization/autoware_twist2accel/** [email protected] kento.yabuuchi.2@tier
 localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_geo_pose_projector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/gyro_odometer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/localization_error_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+localization/autoware_localization_error_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/localization_util/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/pose_estimator_arbiter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group>
-    <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
+    <include file="$(find-pkg-share autoware_localization_error_monitor)/launch/localization_error_monitor.launch.xml">
       <arg name="input/odom" value="/localization/kinematic_state"/>
       <arg name="param_file" value="$(var localization_error_monitor_param_path)"/>
     </include>

diff --git a/...localization_error_monitor/CMakeLists.txt → ...localization_error_monitor/CMakeLists.txt b/...localization_error_monitor/CMakeLists.txt → ...localization_error_monitor/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(localization_error_monitor)
+project(autoware_localization_error_monitor)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,7 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "LocalizationErrorMonitor"
+  PLUGIN "autoware::localization_error_monitor::LocalizationErrorMonitor"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
@@ -20,7 +20,7 @@ if(BUILD_TESTING)
     get_filename_component(filename ${filepath} NAME)
     string(REGEX REPLACE ".cpp" "" test_name ${filename})
     ament_add_gtest(${test_name} ${filepath})
-    target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
+    target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)
     target_link_libraries(${test_name} ${PROJECT_NAME})
     ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
   endfunction()

diff --git a/...tion/localization_error_monitor/README.md → ...ware_localization_error_monitor/README.md b/...tion/localization_error_monitor/README.md → ...ware_localization_error_monitor/README.md
@@ -1,12 +1,12 @@
-# localization_error_monitor
+# autoware_localization_error_monitor
 
 ## Purpose
 
 <p align="center">
 <img src="./media/diagnostics.png" width="400">
 </p>
 
-localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results.
+autoware_localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results.
 The package monitors the following two values:
 
 - size of long radius of confidence ellipse
@@ -29,4 +29,4 @@ The package monitors the following two values:
 
 ## Parameters
 
-{{ json_to_markdown("localization/localization_error_monitor/schema/localization_error_monitor.schema.json") }}
+{{ json_to_markdown("localization/autoware_localization_error_monitor/schema/localization_error_monitor.schema.json") }}
diff --git a/...fig/localization_error_monitor.param.yaml → ...fig/localization_error_monitor.param.yaml b/...fig/localization_error_monitor.param.yaml → ...fig/localization_error_monitor.param.yaml
diff --git a/...lization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml b/...lization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+  <arg name="input/odom" default="/localization/kinematic_state"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
+
+  <node pkg="autoware_localization_error_monitor" exec="autoware_localization_error_monitor_node" output="both">
+    <remap from="input/odom" to="$(var input/odom)"/>
+    <param from="$(var param_file)"/>
+  </node>
+</launch>
diff --git a/...ation_error_monitor/media/diagnostics.png → ...ation_error_monitor/media/diagnostics.png b/...ation_error_monitor/media/diagnostics.png → ...ation_error_monitor/media/diagnostics.png
diff --git a/...on/localization_error_monitor/package.xml → ...re_localization_error_monitor/package.xml b/...on/localization_error_monitor/package.xml → ...re_localization_error_monitor/package.xml
@@ -1,7 +1,7 @@
 <?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>localization_error_monitor</name>
+  <name>autoware_localization_error_monitor</name>
   <version>0.1.0</version>
   <description>ros node for monitoring localization error</description>
   <maintainer email="[email protected]">Yamato Ando</maintainer>

diff --git a/...ma/localization_error_monitor.schema.json → ...ma/localization_error_monitor.schema.json b/...ma/localization_error_monitor.schema.json → ...ma/localization_error_monitor.schema.json
diff --git a/...ization_error_monitor/src/diagnostics.cpp → ...ization_error_monitor/src/diagnostics.cpp b/...ization_error_monitor/src/diagnostics.cpp → ...ization_error_monitor/src/diagnostics.cpp
@@ -12,11 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "diagnostics.hpp"
+
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
 #include <string>
 #include <vector>
 
+namespace autoware::localization_error_monitor
+{
 diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size)
 {
@@ -92,3 +96,4 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
 
   return merged_stat;
 }
+}  // namespace autoware::localization_error_monitor
diff --git a/...ocalization_error_monitor/diagnostics.hpp → ...ization_error_monitor/src/diagnostics.hpp b/...ocalization_error_monitor/diagnostics.hpp → ...ization_error_monitor/src/diagnostics.hpp
@@ -12,20 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_
-#define LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_
+#ifndef DIAGNOSTICS_HPP_
+#define DIAGNOSTICS_HPP_
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
 #include <string>
 #include <vector>
 
+namespace autoware::localization_error_monitor
+{
 diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size);
 diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy_lateral_direction(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size);
 
 diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
   const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & stat_array);
+}  // namespace autoware::localization_error_monitor
 
-#endif  // LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_
+#endif  // DIAGNOSTICS_HPP_
diff --git a/...onitor/src/localization_error_monitor.cpp → ...onitor/src/localization_error_monitor.cpp b/...onitor/src/localization_error_monitor.cpp → ...onitor/src/localization_error_monitor.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_error_monitor/localization_error_monitor.hpp"
+#include "localization_error_monitor.hpp"
 
-#include "localization_error_monitor/diagnostics.hpp"
+#include "diagnostics.hpp"
 
 #include <Eigen/Dense>
 
@@ -31,7 +31,10 @@
 #include <memory>
 #include <string>
 #include <utility>
+#include <vector>
 
+namespace autoware::localization_error_monitor
+{
 LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & options)
 : Node("localization_error_monitor", options)
 {
@@ -84,6 +87,7 @@ void LocalizationErrorMonitor::on_odom(nav_msgs::msg::Odometry::ConstSharedPtr i
   diag_msg.status.push_back(diag_merged_status);
   diag_pub_->publish(diag_msg);
 }
+}  // namespace autoware::localization_error_monitor
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(LocalizationErrorMonitor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::localization_error_monitor::LocalizationErrorMonitor)
diff --git a/...or_monitor/localization_error_monitor.hpp → ...onitor/src/localization_error_monitor.hpp b/...or_monitor/localization_error_monitor.hpp → ...onitor/src/localization_error_monitor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
-#define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
+#ifndef LOCALIZATION_ERROR_MONITOR_HPP_
+#define LOCALIZATION_ERROR_MONITOR_HPP_
 
 #include "localization_util/covariance_ellipse.hpp"
 
@@ -27,6 +27,8 @@
 
 #include <memory>
 
+namespace autoware::localization_error_monitor
+{
 class LocalizationErrorMonitor : public rclcpp::Node
 {
 private:
@@ -50,4 +52,6 @@ class LocalizationErrorMonitor : public rclcpp::Node
 public:
   explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options);
 };
-#endif  // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
+}  // namespace autoware::localization_error_monitor
+
+#endif  // LOCALIZATION_ERROR_MONITOR_HPP_
diff --git a/...n_error_monitor/test/test_diagnostics.cpp → ...n_error_monitor/test/test_diagnostics.cpp b/...n_error_monitor/test/test_diagnostics.cpp → ...n_error_monitor/test/test_diagnostics.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_error_monitor/diagnostics.hpp"
+#include "diagnostics.hpp"
 
 #include <gtest/gtest.h>
 
@@ -24,23 +24,28 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracy)
   const double error_ellipse_size = 1.0;
 
   double ellipse_size = 0.0;
-  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = autoware::localization_error_monitor::check_localization_accuracy(
+    ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.7;
-  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = autoware::localization_error_monitor::check_localization_accuracy(
+    ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.8;
-  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = autoware::localization_error_monitor::check_localization_accuracy(
+    ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.9;
-  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = autoware::localization_error_monitor::check_localization_accuracy(
+    ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 1.0;
-  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = autoware::localization_error_monitor::check_localization_accuracy(
+    ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
 }
 
@@ -52,27 +57,27 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracyLateralDi
   const double error_ellipse_size = 0.3;
 
   double ellipse_size = 0.0;
-  stat = check_localization_accuracy_lateral_direction(
+  stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction(
     ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.24;
-  stat = check_localization_accuracy_lateral_direction(
+  stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction(
     ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.25;
-  stat = check_localization_accuracy_lateral_direction(
+  stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction(
     ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.29;
-  stat = check_localization_accuracy_lateral_direction(
+  stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction(
     ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.3;
-  stat = check_localization_accuracy_lateral_direction(
+  stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction(
     ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
 }
@@ -86,55 +91,55 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus)
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(1).message = "OK";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
   EXPECT_EQ(merged_stat.message, "OK");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(1).message = "OK";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN0");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(1).message = "WARN1";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(1).message = "WARN1";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN0; WARN1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "ERROR1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "WARN0; ERROR1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(0).message = "ERROR0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = merge_diagnostic_status(stat_array);
+  merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1");
 }
diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml