refactor(map_loader)!: prefix package and namespace with autoware (#8927

) * make lanelet2_map_visualization independent Signed-off-by: a-maumau <[email protected]> * remove unused files Signed-off-by: a-maumau <[email protected]> * remove unused package Signed-off-by: a-maumau <[email protected]> * fix package name Signed-off-by: a-maumau <[email protected]> * add autoware_ prefix Signed-off-by: a-maumau <[email protected]> * add autoware to exec name Signed-off-by: a-maumau <[email protected]> * add autoware prefix Signed-off-by: a-maumau <[email protected]> * removed unnecessary dependency Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]>
autowarefoundation · Nov 18, 2024 · 24652f8 · 24652f8
1 parent 9b0ba2d
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -97,6 +97,7 @@ 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/autoware_lanelet2_map_visualizer/** [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/autoware_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/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer()
 void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   if (received_vector_map_) return;
-  // NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp
+  // NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map);
   lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map);

diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
@@ -20,7 +20,7 @@
     <push-ros-namespace namespace="map"/>
 
     <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
-      <composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
+      <composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::PointCloudMapLoaderNode" name="pointcloud_map_loader">
         <param from="$(var pointcloud_map_loader_param_path)"/>
         <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
         <param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
@@ -31,13 +31,13 @@
         <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
+      <composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::Lanelet2MapLoaderNode" name="lanelet2_map_loader">
         <param from="$(var lanelet2_map_loader_param_path)"/>
         <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
         <remap from="output/lanelet2_map" to="vector_map"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
+      <composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
         <remap from="input/lanelet2_map" to="vector_map"/>
         <remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
       </composable_node>
@@ -47,7 +47,7 @@
       </composable_node>
     </node_container>
 
-    <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
+    <node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator">
       <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
       <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
     </node>

diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml
@@ -18,9 +18,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_map_loader</exec_depend>
   <exec_depend>autoware_map_projection_loader</exec_depend>
   <exec_depend>autoware_map_tf_generator</exec_depend>
-  <exec_depend>map_loader</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/map/autoware_lanelet2_map_visualizer/CMakeLists.txt b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_lanelet2_map_visualizer)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(lanelet2_map_visualization_node SHARED
+  src/lanelet2_map_visualization_node.cpp
+)
+
+rclcpp_components_register_node(lanelet2_map_visualization_node
+  PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
+  EXECUTABLE lanelet2_map_visualization
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/map/autoware_lanelet2_map_visualizer/README.md b/map/autoware_lanelet2_map_visualizer/README.md
@@ -0,0 +1,21 @@
+# autoware_lanelet2_map_visualizer package
+
+This package provides the features of visualizing the lanelet2 maps.
+
+## lanelet2_map_visualization
+
+### Feature
+
+lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
+
+### How to Run
+
+`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`
+
+### Subscribed Topics
+
+- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
+
+### Published Topics
+
+- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz
diff --git a/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+  <arg name="lanelet2_map_topic" default="vector_map"/>
+  <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
+
+  <node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
+    <remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
+    <remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
+  </node>
+</launch>
diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml
@@ -0,0 +1,36 @@
+<?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>autoware_lanelet2_map_visualizer</name>
+  <version>0.1.0</version>
+  <description>The autoware_lanelet2_map_visualizer package</description>
+  <maintainer email="[email protected]">Yamato Ando</maintainer>
+  <maintainer email="[email protected]">Ryu Yamamoto</maintainer>
+  <maintainer email="[email protected]">Masahiro Sakamoto</maintainer>
+  <maintainer email="[email protected]">Kento Yabuuchi</maintainer>
+  <maintainer email="[email protected]">NGUYEN Viet Anh</maintainer>
+  <maintainer email="[email protected]">Taiki Yamada</maintainer>
+  <maintainer email="[email protected]">Shintaro Sakoda</maintainer>
+  <maintainer email="[email protected]">Mamoru Sobue</maintainer>
+
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Ryohsuke Mitsudome</author>
+  <author email="[email protected]">Koji Minoda</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_map_msgs</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...oader/lanelet2_map_visualization_node.cpp → ...r/src/lanelet2_map_visualization_node.cpp b/...oader/lanelet2_map_visualization_node.cpp → ...r/src/lanelet2_map_visualization_node.cpp
@@ -31,7 +31,7 @@
  *
  */
 
-#include "map_loader/lanelet2_map_visualization_node.hpp"
+#include "lanelet2_map_visualization_node.hpp"
 
 #include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -49,7 +49,7 @@
 #include <memory>
 #include <vector>
 
-namespace
+namespace autoware::lanelet2_map_visualizer
 {
 void insert_marker_array(
   visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2)
@@ -64,7 +64,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub
   cl->b = static_cast<float>(b);
   cl->a = static_cast<float>(a);
 }
-}  // namespace
 
 Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options)
 : Node("lanelet2_map_visualization", options)
@@ -314,6 +313,7 @@ void Lanelet2MapVisualizationNode::on_map_bin(
 
   pub_marker_->publish(map_marker_array);
 }
+}  // namespace autoware::lanelet2_map_visualizer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode)
diff --git a/...oader/lanelet2_map_visualization_node.hpp → ...r/src/lanelet2_map_visualization_node.hpp b/...oader/lanelet2_map_visualization_node.hpp → ...r/src/lanelet2_map_visualization_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#define LANELET2_MAP_VISUALIZATION_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,6 +23,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::lanelet2_map_visualizer
+{
 class Lanelet2MapVisualizationNode : public rclcpp::Node
 {
 public:
@@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
 
   void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
 };
+}  // namespace autoware::lanelet2_map_visualizer
 
-#endif  // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#endif  // LANELET2_MAP_VISUALIZATION_NODE_HPP_
diff --git a/map/map_loader/CHANGELOG.rst → map/autoware_map_loader/CHANGELOG.rst b/map/map_loader/CHANGELOG.rst → map/autoware_map_loader/CHANGELOG.rst
diff --git a/map/map_loader/CMakeLists.txt → map/autoware_map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt → map/autoware_map_loader/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_loader)
+project(autoware_map_loader)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -23,26 +23,17 @@ target_include_directories(pointcloud_map_loader_node
 )
 
 rclcpp_components_register_node(pointcloud_map_loader_node
-  PLUGIN "PointCloudMapLoaderNode"
-  EXECUTABLE pointcloud_map_loader
+  PLUGIN "autoware::map_loader::PointCloudMapLoaderNode"
+  EXECUTABLE autoware_pointcloud_map_loader
 )
 
 ament_auto_add_library(lanelet2_map_loader_node SHARED
   src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
 )
 
 rclcpp_components_register_node(lanelet2_map_loader_node
-  PLUGIN "Lanelet2MapLoaderNode"
-  EXECUTABLE lanelet2_map_loader
-)
-
-ament_auto_add_library(lanelet2_map_visualization_node SHARED
-  src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
-)
-
-rclcpp_components_register_node(lanelet2_map_visualization_node
-  PLUGIN "Lanelet2MapVisualizationNode"
-  EXECUTABLE lanelet2_map_visualization
+  PLUGIN "autoware::map_loader::Lanelet2MapLoaderNode"
+  EXECUTABLE autoware_lanelet2_map_loader
 )
 
 if(BUILD_TESTING)

diff --git a/map/map_loader/README.md → map/autoware_map_loader/README.md b/map/map_loader/README.md → map/autoware_map_loader/README.md
@@ -1,4 +1,4 @@
-# map_loader package
+# autoware_map_loader package
 
 This package provides the features of loading various maps.
 
@@ -111,7 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 ### Parameters
 
-{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_loader/schema/pointcloud_map_loader.schema.json") }}
 
 ### Interfaces
 
@@ -136,7 +136,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### How to run
 
-`ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
+`ros2 run autoware_map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
 
 ### Subscribed Topics
 
@@ -148,27 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Parameters
 
-{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_loader/schema/lanelet2_map_loader.schema.json") }}
 
 `use_waypoints` decides how to handle a centerline.
 This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail.
-
----
-
-## lanelet2_map_visualization
-
-### Feature
-
-lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
-
-### How to Run
-
-`ros2 run map_loader lanelet2_map_visualization`
-
-### Subscribed Topics
-
-- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
-
-### Published Topics
-
-- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz
diff --git a/...der/config/lanelet2_map_loader.param.yaml → ...der/config/lanelet2_map_loader.param.yaml b/...der/config/lanelet2_map_loader.param.yaml → ...der/config/lanelet2_map_loader.param.yaml
diff --git a/...r/config/pointcloud_map_loader.param.yaml → ...r/config/pointcloud_map_loader.param.yaml b/...r/config/pointcloud_map_loader.param.yaml → ...r/config/pointcloud_map_loader.param.yaml
diff --git a/...e/map_loader/lanelet2_map_loader_node.hpp → ...e/map_loader/lanelet2_map_loader_node.hpp b/...e/map_loader/lanelet2_map_loader_node.hpp → ...e/map_loader/lanelet2_map_loader_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#ifndef AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#define AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 
 #include <autoware/component_interface_specs/map.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
@@ -28,6 +28,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::map_loader
+{
 class Lanelet2MapLoaderNode : public rclcpp::Node
 {
 public:
@@ -52,5 +54,6 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
     sub_map_projector_info_;
   rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr pub_map_bin_;
 };
+}  // namespace autoware::map_loader
 
-#endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#endif  // AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
diff --git a/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="lanelet2_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/lanelet2_map_loader.param.yaml"/>
+  <arg name="lanelet2_map_path"/>
+  <arg name="lanelet2_map_topic" default="vector_map"/>
+  <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
+
+  <node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator" output="both">
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
+  </node>
+
+  <node pkg="autoware_map_loader" exec="lanelet2_map_loader" name="lanelet2_map_loader" output="both">
+    <remap from="output/lanelet2_map" to="$(var lanelet2_map_topic)"/>
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
+  </node>
+</launch>
diff --git a/...r/launch/pointcloud_map_loader.launch.xml → ...r/launch/pointcloud_map_loader.launch.xml b/...r/launch/pointcloud_map_loader.launch.xml → ...r/launch/pointcloud_map_loader.launch.xml
@@ -1,9 +1,9 @@
 <launch>
   <arg name="pointcloud_map_path"/>
   <arg name="pointcloud_map_metadata_path"/>
-  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share map_loader)/config/pointcloud_map_loader.param.yaml"/>
+  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/pointcloud_map_loader.param.yaml"/>
 
-  <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
+  <node pkg="autoware_map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
     <remap from="output/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
     <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>

diff --git a/map/map_loader/package.xml → map/autoware_map_loader/package.xml b/map/map_loader/package.xml → map/autoware_map_loader/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_loader</name>
+  <name>autoware_map_loader</name>
   <version>0.38.0</version>
-  <description>The map_loader package</description>
+  <description>The autoware_map_loader package</description>
   <maintainer email="[email protected]">Yamato Ando</maintainer>
   <maintainer email="[email protected]">Ryu Yamamoto</maintainer>
   <maintainer email="[email protected]">Masahiro Sakamoto</maintainer>

diff --git a/...er/schema/lanelet2_map_loader.schema.json → ...er/schema/lanelet2_map_loader.schema.json b/...er/schema/lanelet2_map_loader.schema.json → ...er/schema/lanelet2_map_loader.schema.json
diff --git a/.../schema/pointcloud_map_loader.schema.json → .../schema/pointcloud_map_loader.schema.json b/.../schema/pointcloud_map_loader.schema.json → .../schema/pointcloud_map_loader.schema.json
diff --git a/map/map_loader/script/map_hash_generator → ...ware_map_loader/script/map_hash_generator b/map/map_loader/script/map_hash_generator → ...ware_map_loader/script/map_hash_generator