diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 61af2edc5b516..0097a386e47a7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -97,6 +97,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp 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 index 2165587493a7a..c4104584f3f3b 100644 --- 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 index 3b30a891ae555..2fbdbc694cacc 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -20,7 +20,7 @@ - + @@ -31,13 +31,13 @@ - + - + @@ -47,7 +47,7 @@ - + diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index ca2d46db38a52..a5120987605f5 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,9 +18,9 @@ ament_cmake_auto autoware_cmake + autoware_map_loader autoware_map_projection_loader autoware_map_tf_generator - map_loader ament_lint_auto autoware_lint_common diff --git a/map/autoware_lanelet2_map_visualizer/CMakeLists.txt b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt new file mode 100644 index 0000000000000..5f2cb4a1f67a1 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..b7e86b4a0d62b --- /dev/null +++ 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 new file mode 100644 index 0000000000000..6c6702c6e7904 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml new file mode 100644 index 0000000000000..0244a5f010aa4 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -0,0 +1,36 @@ + + + + autoware_lanelet2_map_visualizer + 0.1.0 + The autoware_lanelet2_map_visualizer package + Yamato Ando + Ryu Yamamoto + Masahiro Sakamoto + Kento Yabuuchi + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Mamoru Sobue + + Apache License 2.0 + Ryohsuke Mitsudome + Koji Minoda + + ament_cmake_auto + autoware_cmake + + autoware_lanelet2_extension + autoware_map_msgs + rclcpp + rclcpp_components + tier4_map_msgs + visualization_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp similarity index 98% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp index 4a9aae78e8eb3..ae9e7114cb385 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/autoware_lanelet2_map_visualizer/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 #include @@ -49,7 +49,7 @@ #include #include -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(b); cl->a = static_cast(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(Lanelet2MapVisualizationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode) diff --git a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp similarity index 83% rename from map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp index 049d714ec452a..7694c191f12a2 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp +++ b/map/autoware_lanelet2_map_visualizer/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 @@ -23,6 +23,8 @@ #include #include +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 b/map/autoware_map_loader/CHANGELOG.rst similarity index 100% rename from map/map_loader/CHANGELOG.rst rename to map/autoware_map_loader/CHANGELOG.rst diff --git a/map/map_loader/CMakeLists.txt b/map/autoware_map_loader/CMakeLists.txt similarity index 84% rename from map/map_loader/CMakeLists.txt rename to map/autoware_map_loader/CMakeLists.txt index 115f7e5b17464..9f8f8681488aa 100644 --- a/map/map_loader/CMakeLists.txt +++ b/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() @@ -23,8 +23,8 @@ 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 @@ -32,17 +32,8 @@ ament_auto_add_library(lanelet2_map_loader_node SHARED ) 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 b/map/autoware_map_loader/README.md similarity index 91% rename from map/map_loader/README.md rename to map/autoware_map_loader/README.md index bc3eb80d80339..046c9062081ca 100644 --- a/map/map_loader/README.md +++ b/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/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/autoware_map_loader/config/lanelet2_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/lanelet2_map_loader.param.yaml rename to map/autoware_map_loader/config/lanelet2_map_loader.param.yaml diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/autoware_map_loader/config/pointcloud_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/pointcloud_map_loader.param.yaml rename to map/autoware_map_loader/config/pointcloud_map_loader.param.yaml diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp similarity index 88% rename from map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp rename to map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp index 2d3fbfb2a140f..54d8244ff76e0 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/autoware_map_loader/include/autoware/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 #include @@ -28,6 +28,8 @@ #include #include +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::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 new file mode 100644 index 0000000000000..48f92550fe404 --- /dev/null +++ b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml similarity index 73% rename from map/map_loader/launch/pointcloud_map_loader.launch.xml rename to map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml index 3633a8fa39a6b..314b3082efff8 100644 --- a/map/map_loader/launch/pointcloud_map_loader.launch.xml +++ b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/map/map_loader/package.xml b/map/autoware_map_loader/package.xml similarity index 94% rename from map/map_loader/package.xml rename to map/autoware_map_loader/package.xml index 54cfdcb2b07d3..15fc9fd13df64 100644 --- a/map/map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -1,9 +1,9 @@ - map_loader + autoware_map_loader 0.38.0 - The map_loader package + The autoware_map_loader package Yamato Ando Ryu Yamamoto Masahiro Sakamoto diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/autoware_map_loader/schema/lanelet2_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/lanelet2_map_loader.schema.json rename to map/autoware_map_loader/schema/lanelet2_map_loader.schema.json diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/autoware_map_loader/schema/pointcloud_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/pointcloud_map_loader.schema.json rename to map/autoware_map_loader/schema/pointcloud_map_loader.schema.json diff --git a/map/map_loader/script/map_hash_generator b/map/autoware_map_loader/script/map_hash_generator similarity index 100% rename from map/map_loader/script/map_hash_generator rename to map/autoware_map_loader/script/map_hash_generator diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp similarity index 64% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp index d73ec0d1ee06e..66b0231c01fd4 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp @@ -17,25 +17,24 @@ #include -namespace lanelet::projection +namespace autoware::map_loader { -class LocalProjector : public Projector +class LocalProjector : public lanelet::Projector { public: - LocalProjector() : Projector(Origin(GPSPoint{})) {} + LocalProjector() : Projector(lanelet::Origin(lanelet::GPSPoint{})) {} - BasicPoint3d forward(const GPSPoint & gps) const override // NOLINT + lanelet::BasicPoint3d forward(const lanelet::GPSPoint & gps) const override // NOLINT { - return BasicPoint3d{0.0, 0.0, gps.ele}; + return lanelet::BasicPoint3d{0.0, 0.0, gps.ele}; } - [[nodiscard]] GPSPoint reverse(const BasicPoint3d & point) const override + [[nodiscard]] lanelet::GPSPoint reverse(const lanelet::BasicPoint3d & point) const override { - return GPSPoint{0.0, 0.0, point.z()}; + return lanelet::GPSPoint{0.0, 0.0, point.z()}; } }; - -} // namespace lanelet::projection +} // namespace autoware::map_loader #endif // LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_ diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp similarity index 96% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index c2334d4589f27..ee1cc4a58a1be 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -31,7 +31,7 @@ * */ -#include "map_loader/lanelet2_map_loader_node.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "lanelet2_local_projector.hpp" @@ -52,6 +52,8 @@ #include #include +namespace autoware::map_loader +{ using autoware_map_msgs::msg::LaneletMapBin; using tier4_map_msgs::msg::MapProjectorInfo; @@ -145,7 +147,7 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( return map; } } else { - const lanelet::projection::LocalProjector projector; + const autoware::map_loader::LocalProjector projector; lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); if (!errors.empty()) { @@ -199,6 +201,7 @@ LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg( return map_bin_msg; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::Lanelet2MapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index da42389dcc69f..160c6f876138d 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ DifferentialMapLoaderModule::DifferentialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -89,3 +91,4 @@ DifferentialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp index 690ffeca653c8..5c51e7f6206d6 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class DifferentialMapLoaderModule { using GetDifferentialPointCloudMap = autoware_map_msgs::srv::GetDifferentialPointCloudMap; @@ -55,5 +57,6 @@ class DifferentialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__DIFFERENTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index 62e165dd1005b..afa3da7b82b2d 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ PartialMapLoaderModule::PartialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -76,3 +78,4 @@ PartialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp index ec97661366419..6660c56ade759 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class PartialMapLoaderModule { using GetPartialPointCloudMap = autoware_map_msgs::srv::GetPartialPointCloudMap; @@ -55,5 +57,6 @@ class PartialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__PARTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp index 1754d0b7629a2..0b6521f69ca09 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp @@ -21,6 +21,8 @@ #include #include +namespace autoware::map_loader +{ sensor_msgs::msg::PointCloud2 downsample( const sensor_msgs::msg::PointCloud2 & msg_input, const float leaf_size) { @@ -99,3 +101,4 @@ sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::load_pcd_files( return whole_pcd; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp similarity index 95% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp index 44f23ded70e37..59145265ecdb4 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_loader +{ class PointcloudMapLoaderModule { public: @@ -42,5 +44,6 @@ class PointcloudMapLoaderModule [[nodiscard]] sensor_msgs::msg::PointCloud2 load_pcd_files( const std::vector & pcd_paths, const boost::optional leaf_size) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index c718b25c56694..2500d96650ae3 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -24,6 +24,8 @@ #include #include +namespace autoware::map_loader +{ namespace fs = std::filesystem; namespace @@ -145,6 +147,7 @@ std::vector PointCloudMapLoaderNode::get_pcd_paths( } return pcd_paths; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(PointCloudMapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::PointCloudMapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp index dbc0d584d347b..251575d7d6424 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class PointCloudMapLoaderNode : public rclcpp::Node { public: @@ -50,5 +52,6 @@ class PointCloudMapLoaderNode : public rclcpp::Node std::map get_pcd_metadata( const std::string & pcd_metadata_path, const std::vector & pcd_paths) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 76b56341b8632..082d1f545dc14 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -15,7 +15,8 @@ #include "selected_map_loader_module.hpp" #include -namespace + +namespace autoware::map_loader { autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( const std::map & pcd_file_metadata_dict) @@ -42,7 +43,6 @@ autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( return metadata_msg; } -} // namespace SelectedMapLoaderModule::SelectedMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) @@ -107,3 +107,4 @@ SelectedMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp index eea8b8c1950ae..bc07543d7a6be 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class SelectedMapLoaderModule { using GetSelectedPointCloudMap = autoware_map_msgs::srv::GetSelectedPointCloudMap; @@ -55,5 +57,6 @@ class SelectedMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__SELECTED_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/utils.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp index ea2c2e7033014..172d462947548 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::map_loader +{ std::map load_pcd_metadata(const std::string & pcd_metadata_path) { YAML::Node config = YAML::LoadFile(pcd_metadata_path); @@ -107,3 +109,4 @@ bool is_grid_within_queried_area( cylinder_and_box_overlap_exists(center_x, center_y, radius, metadata.min, metadata.max); return res; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/utils.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/utils.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp index 07e8ade5c6f7c..7a3cec7fcc14a 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp @@ -26,6 +26,8 @@ #include #include +namespace autoware::map_loader +{ struct PCDFileMetadata { pcl::PointXYZ min; @@ -48,4 +50,6 @@ bool cylinder_and_box_overlap_exists( bool is_grid_within_queried_area( const autoware_map_msgs::msg::AreaInfo area, const PCDFileMetadata metadata); +} // namespace autoware::map_loader + #endif // POINTCLOUD_MAP_LOADER__UTILS_HPP_ diff --git a/map/map_loader/test/data/test_map.osm b/map/autoware_map_loader/test/data/test_map.osm similarity index 100% rename from map/map_loader/test/data/test_map.osm rename to map/autoware_map_loader/test/data/test_map.osm diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py similarity index 91% rename from map/map_loader/test/lanelet2_map_loader_launch.test.py rename to map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py index 0a29a74e90b06..14f05b1938b61 100644 --- a/map/map_loader/test/lanelet2_map_loader_launch.test.py +++ b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py @@ -28,12 +28,12 @@ @pytest.mark.launch_test def generate_test_description(): lanelet2_map_path = os.path.join( - get_package_share_directory("map_loader"), "test/data/test_map.osm" + get_package_share_directory("autoware_map_loader"), "test/data/test_map.osm" ) lanelet2_map_loader = Node( - package="map_loader", - executable="lanelet2_map_loader", + package="autoware_map_loader", + executable="autoware_lanelet2_map_loader", parameters=[ { "lanelet2_map_path": lanelet2_map_path, diff --git a/map/map_loader/test/test_cylinder_box_overlap.cpp b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp similarity index 97% rename from map/map_loader/test/test_cylinder_box_overlap.cpp rename to map/autoware_map_loader/test/test_cylinder_box_overlap.cpp index d8ca2ca9f8734..6ab0c0a309be0 100644 --- a/map/map_loader/test/test_cylinder_box_overlap.cpp +++ b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp @@ -16,6 +16,8 @@ #include +using autoware::map_loader::cylinder_and_box_overlap_exists; + TEST(CylinderAndBoxOverlapExists, NoOverlap) { // Cylinder: center = (5, 0), radius = 4 - 0.1 diff --git a/map/map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_differential_map_loader_module.cpp rename to map/autoware_map_loader/test/test_differential_map_loader_module.cpp index e25a8f97a70ca..cd9b670b32fd3 100644 --- a/map/map_loader/test/test_differential_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp @@ -23,6 +23,7 @@ #include +using autoware::map_loader::DifferentialMapLoaderModule; using autoware_map_msgs::srv::GetDifferentialPointCloudMap; class TestDifferentialMapLoaderModule : public ::testing::Test @@ -45,8 +46,8 @@ class TestDifferentialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp similarity index 90% rename from map/map_loader/test/test_load_pcd_metadata.cpp rename to map/autoware_map_loader/test/test_load_pcd_metadata.cpp index fcec100f389c5..dc23c3a9fb2d6 100644 --- a/map/map_loader/test/test_load_pcd_metadata.cpp +++ b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp @@ -39,12 +39,12 @@ TEST(LoadPCDMetadataTest, BasicFunctionality) { std::string yaml_file_path = create_yaml_file(); - std::map expected = { + std::map expected = { {"file1.pcd", {{1, 2, 0}, {6, 8, 0}}}, {"file2.pcd", {{3, 4, 0}, {8, 10, 0}}}, }; - auto result = load_pcd_metadata(yaml_file_path); + auto result = autoware::map_loader::load_pcd_metadata(yaml_file_path); ASSERT_THAT(result, ContainerEq(expected)); } diff --git a/map/map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_partial_map_loader_module.cpp rename to map/autoware_map_loader/test/test_partial_map_loader_module.cpp index 9ff27df29ab8b..fd25b600c81af 100644 --- a/map/map_loader/test/test_partial_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp @@ -22,6 +22,7 @@ #include +using autoware::map_loader::PartialMapLoaderModule; using autoware_map_msgs::srv::GetPartialPointCloudMap; class TestPartialMapLoaderModule : public ::testing::Test @@ -44,8 +45,8 @@ class TestPartialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp similarity index 96% rename from map/map_loader/test/test_pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp index 5667f476b4dab..d61839d5abfc8 100644 --- a/map/map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp @@ -65,7 +65,8 @@ TEST_F(TestPointcloudMapLoaderModule, LoadPCDFilesNoDownsampleTest) std::vector pcd_paths = {temp_pcd_path}; // Create PointcloudMapLoaderModule instance - PointcloudMapLoaderModule loader(node.get(), pcd_paths, "pointcloud_map_no_downsample", false); + autoware::map_loader::PointcloudMapLoaderModule loader( + node.get(), pcd_paths, "pointcloud_map_no_downsample", false); // Create a subscriber to the published pointcloud topic auto pointcloud_received = std::make_shared(false); diff --git a/map/map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp similarity index 95% rename from map/map_loader/test/test_replace_with_absolute_path.cpp rename to map/autoware_map_loader/test/test_replace_with_absolute_path.cpp index 03d533d41cf18..e8ccfbd5fb9f4 100644 --- a/map/map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp @@ -17,6 +17,8 @@ #include #include +using autoware::map_loader::PCDFileMetadata; +using autoware::map_loader::replace_with_absolute_path; using ::testing::ContainerEq; TEST(ReplaceWithAbsolutePathTest, BasicFunctionality) diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 11246c092231e..2568bb2c17df7 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -11,7 +11,7 @@ This is necessary information especially when you want to convert from global (g ## Map projector info file specification -You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `map_loader`. +You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `autoware_map_loader`. ```bash sample-map-rosbag diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/map_loader/launch/lanelet2_map_loader.launch.xml deleted file mode 100644 index 5baee911d6572..0000000000000 --- a/map/map_loader/launch/lanelet2_map_loader.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 38379a52e4c92..b897cf4d88711 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -20,7 +20,7 @@ - + autoware_geography_utils autoware_interpolation autoware_lanelet2_extension + autoware_map_loader autoware_map_msgs autoware_map_projection_loader autoware_mission_planner @@ -33,7 +34,6 @@ autoware_vehicle_info_utils geometry_msgs global_parameter_loader - map_loader rclcpp rclcpp_components tier4_map_msgs diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index a6ba007e71485..398edc215da3e 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -15,6 +15,7 @@ #include "static_centerline_generator_node.hpp" #include "autoware/interpolation/spline_interpolation_points_2d.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" @@ -26,7 +27,6 @@ #include "autoware_lanelet2_extension/utility/utilities.hpp" #include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp" #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "map_loader/lanelet2_map_loader_node.hpp" #include "type_alias.hpp" #include "utils.hpp" @@ -358,24 +358,24 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map map_projector_info_ = std::make_unique( autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path)); - const auto map_ptr = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + const auto map_ptr = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { return nullptr; } // NOTE: The original map is stored here since the centerline will be added to all the // lanelet when lanelet::utils::overwriteLaneletCenterline is called. - original_map_ptr_ = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + original_map_ptr_ = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); // overwrite more dense centerline // NOTE: overwriteLaneletsCenterlineWithWaypoints is used only in real time calculation. lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false); // create map bin msg - const auto map_bin_msg = - Lanelet2MapLoaderNode::create_map_bin_msg(map_ptr, lanelet2_input_file_path, now()); + const auto map_bin_msg = autoware::map_loader::Lanelet2MapLoaderNode::create_map_bin_msg( + map_ptr, lanelet2_input_file_path, now()); return std::make_shared(map_bin_msg); }(); diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 4bb0630d13942..ca2621212ef83 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -71,7 +71,7 @@ def generate_test_description(): "config/path_optimizer.param.yaml", ), os.path.join( - get_package_share_directory("map_loader"), + get_package_share_directory("autoware_map_loader"), "config/lanelet2_map_loader.param.yaml", ), os.path.join(