build(behavior_path_external_request_lane_change_module): prefix pack…

…age and namespace with autoware_ (#6636) Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · May 23, 2024 · 4ffa82b · 4ffa82b
1 parent 3eed12c
commit 4ffa82b
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Showing 12 changed files with 49 additions and 36 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -156,13 +156,13 @@ perception/traffic_light_map_based_detector/** [email protected] tao.zhong
 perception/traffic_light_multi_camera_fusion/** [email protected] [email protected]
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/traffic_light_visualization/** [email protected] [email protected]
+planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
 planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_dynamic_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -82,12 +82,12 @@
   />
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, '&quot;)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, '&quot;)"
     if="$(var launch_external_request_lane_change_right_module)"
   />
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, '&quot;)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, '&quot;)"
     if="$(var launch_external_request_lane_change_left_module)"
   />
   <let

diff --git a/...request_lane_change_module/CMakeLists.txt → ...request_lane_change_module/CMakeLists.txt b/...request_lane_change_module/CMakeLists.txt → ...request_lane_change_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_path_external_request_lane_change_module)
+project(autoware_behavior_path_external_request_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...al_request_lane_change_module/package.xml → ...al_request_lane_change_module/package.xml b/...al_request_lane_change_module/package.xml → ...al_request_lane_change_module/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>behavior_path_external_request_lane_change_module</name>
+  <name>autoware_behavior_path_external_request_lane_change_module</name>
   <version>0.1.0</version>
-  <description>The behavior_path_external_request_lane_change_module package</description>
+  <description>The autoware_behavior_path_external_request_lane_change_module package</description>
 
   <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
   <maintainer email="[email protected]">Zulfaqar Azmi</maintainer>

diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml b/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml
@@ -0,0 +1,4 @@
+<library path="autoware_behavior_path_external_request_lane_change_module">
+  <class type="autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+  <class type="autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>
diff --git a/...equest_lane_change_module/src/manager.cpp → ...equest_lane_change_module/src/manager.cpp b/...equest_lane_change_module/src/manager.cpp → ...equest_lane_change_module/src/manager.cpp
@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_external_request_lane_change_module/manager.hpp"
+#include "manager.hpp"
 
-#include "behavior_path_external_request_lane_change_module/scene.hpp"
 #include "behavior_path_lane_change_module/interface.hpp"
+#include "scene.hpp"
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::LaneChangeInterface;
 
 std::unique_ptr<SceneModuleInterface>
 ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance()
@@ -38,12 +39,12 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance()
     std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
 }
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_path_planner::ExternalRequestLaneChangeRightModuleManager,
-  behavior_path_planner::SceneModuleManagerInterface)
+  autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager,
+  ::behavior_path_planner::SceneModuleManagerInterface)
 PLUGINLIB_EXPORT_CLASS(
-  behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager,
-  behavior_path_planner::SceneModuleManagerInterface)
+  autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager,
+  ::behavior_path_planner::SceneModuleManagerInterface)
diff --git a/...al_request_lane_change_module/manager.hpp → ...equest_lane_change_module/src/manager.hpp b/...al_request_lane_change_module/manager.hpp → ...equest_lane_change_module/src/manager.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_
+#ifndef MANAGER_HPP_
+#define MANAGER_HPP_
 
 #include "behavior_path_lane_change_module/manager.hpp"
 #include "route_handler/route_handler.hpp"
@@ -23,8 +23,12 @@
 #include <memory>
 #include <string>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::LaneChangeModuleManager;
+using ::behavior_path_planner::LaneChangeModuleType;
+using ::behavior_path_planner::SceneModuleInterface;
+
 class ExternalRequestLaneChangeRightModuleManager : public LaneChangeModuleManager
 {
 public:
@@ -49,6 +53,6 @@ class ExternalRequestLaneChangeLeftModuleManager : public LaneChangeModuleManage
   }
   std::unique_ptr<SceneModuleInterface> createNewSceneModuleInstance() override;
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_
+#endif  // MANAGER_HPP_
diff --git a/..._request_lane_change_module/src/scene.cpp → ..._request_lane_change_module/src/scene.cpp b/..._request_lane_change_module/src/scene.cpp → ..._request_lane_change_module/src/scene.cpp
@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_external_request_lane_change_module/scene.hpp"
+#include "scene.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
 #include <memory>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::LaneChangeModuleType;
+
 ExternalRequestLaneChange::ExternalRequestLaneChange(
   const std::shared_ptr<LaneChangeParameters> & parameters, Direction direction)
 : NormalLaneChange(parameters, LaneChangeModuleType::EXTERNAL_REQUEST, direction)
 {
 }
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
diff --git a/...rnal_request_lane_change_module/scene.hpp → ..._request_lane_change_module/src/scene.hpp b/...rnal_request_lane_change_module/scene.hpp → ..._request_lane_change_module/src/scene.hpp
@@ -12,15 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_
-#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_
+#ifndef SCENE_HPP_
+#define SCENE_HPP_
 
 #include "behavior_path_lane_change_module/scene.hpp"
 
 #include <memory>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::Direction;
+using ::behavior_path_planner::LaneChangeParameters;
+using ::behavior_path_planner::NormalLaneChange;
+
 class ExternalRequestLaneChange : public NormalLaneChange
 {
 public:
@@ -33,6 +37,6 @@ class ExternalRequestLaneChange : public NormalLaneChange
   ExternalRequestLaneChange & operator=(ExternalRequestLaneChange &&) = delete;
   ~ExternalRequestLaneChange() override = default;
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_
+#endif  // SCENE_HPP_
diff --git a/..._behavior_path_planner_node_interface.cpp → ..._behavior_path_planner_node_interface.cpp b/..._behavior_path_planner_node_interface.cpp → ..._behavior_path_planner_node_interface.cpp
@@ -22,7 +22,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_path_planner::BehaviorPathPlannerNode;
+using ::behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -51,8 +51,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
     ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module");
 
   std::vector<std::string> module_names;
-  module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeRightModuleManager");
-  module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager");
+  module_names.emplace_back(
+    "autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager");
+  module_names.emplace_back(
+    "autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager");
 
   std::vector<rclcpp::Parameter> params;
   params.emplace_back("launch_modules", module_names);

diff --git a/planning/behavior_path_external_request_lane_change_module/plugins.xml b/planning/behavior_path_external_request_lane_change_module/plugins.xml
diff --git a/planning/behavior_path_lane_change_module/plugins.xml b/planning/behavior_path_lane_change_module/plugins.xml
@@ -1,6 +1,6 @@
 <library path="behavior_path_lane_change_module">
   <class type="behavior_path_planner::LaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
   <class type="behavior_path_planner::LaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
-  <class type="behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
-  <class type="behavior_path_planner::ExternalRequestLaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+  <class type="autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+  <class type="autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
 </library>