refactor(autoware_velocity_run_out_module): prefix package with autow…

…are_ and move code to the autoware namespace

Signed-off-by: Esteve Fernandez <[email protected]>

.github/CODEOWNERS

@@ -171,7 +171,7 @@ planning/behavior_velocity_no_stopping_area_module/** [email protected] s
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_template_module/** [email protected]

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -156,7 +156,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
     if="$(var launch_run_out_module)"
   />
   <let

planning/.pages

@@ -30,7 +30,7 @@ nav:
         - 'No Stopping Area': planning/behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_occlusion_spot_module
         - 'Out of Lane': planning/behavior_velocity_out_of_lane_module
-        - 'Run Out': planning/behavior_velocity_run_out_module
+        - 'Run Out': planning/autoware_behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module

planning/autoware_behavior_velocity_planner/README.md

@@ -18,7 +18,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
 - [Occlusion Spot](../behavior_velocity_occlusion_spot_module/README.md)
 - [No Stopping Area](../behavior_velocity_no_stopping_area_module/README.md)
-- [Run Out](../behavior_velocity_run_out_module/README.md)
+- [Run Out](../autoware_behavior_velocity_run_out_module/README.md)
 - [Speed Bump](../behavior_velocity_speed_bump_module/README.md)
 - [Out of Lane](../behavior_velocity_out_of_lane_module/README.md)
 

planning/autoware_behavior_velocity_planner/package.xml

@@ -65,6 +65,7 @@
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_velocity_blind_spot_module</test_depend>
   <test_depend>behavior_velocity_crosswalk_module</test_depend>
@@ -74,7 +75,6 @@
   <test_depend>behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>behavior_velocity_occlusion_spot_module</test_depend>
   <test_depend>behavior_velocity_out_of_lane_module</test_depend>
-  <test_depend>behavior_velocity_run_out_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -72,7 +72,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::RunOutModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin");

planning/behavior_velocity_run_out_module/CMakeLists.txt → planning/autoware_behavior_velocity_run_out_module/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_run_out_module)
+project(autoware_behavior_velocity_run_out_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

planning/behavior_velocity_run_out_module/package.xml → planning/autoware_behavior_velocity_run_out_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_velocity_run_out_module</name>
+  <name>autoware_behavior_velocity_run_out_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_run_out_module package</description>
+  <description>The autoware_behavior_velocity_run_out_module package</description>
 
   <maintainer email="[email protected]">Tomohito Ando</maintainer>
   <maintainer email="[email protected]">Makoto Kurihara</maintainer>

planning/autoware_behavior_velocity_run_out_module/plugins.xml

@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_run_out_module">
+  <class type="autoware::behavior_velocity_planner::RunOutModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>

planning/behavior_velocity_run_out_module/src/debug.cpp → planning/autoware_behavior_velocity_run_out_module/src/debug.cpp

@@ -28,7 +28,7 @@ using tier4_autoware_utils::createMarkerOrientation;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -368,4 +368,4 @@ motion_utils::VirtualWalls RunOutModule::createVirtualWalls()
   return debug_ptr_->createVirtualWalls();
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/debug.hpp → planning/autoware_behavior_velocity_run_out_module/src/debug.hpp

@@ -24,11 +24,12 @@
 #include <memory>
 #include <string>
 #include <vector>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using sensor_msgs::msg::PointCloud2;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Int32Stamped;
+using ::behavior_velocity_planner::Polygon2d;
 
 class DebugValues
 {
@@ -149,6 +150,6 @@ class RunOutDebug
   double height_{0};
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DEBUG_HPP_

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.cpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp

@@ -30,8 +30,10 @@
 #include <limits>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::splineInterpolate;
+using ::behavior_velocity_planner::Point2d;
 namespace
 {
 // create quaternion facing to the nearest trajectory point
@@ -600,4 +602,4 @@ void DynamicObstacleCreatorForPoints::onSynchronizedPointCloud(
   std::lock_guard<std::mutex> lock(mutex_);
   obstacle_points_map_filtered_ = lateral_nearest_points;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/dynamic_obstacle.hpp → planning/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp

@@ -42,7 +42,7 @@
 #include <memory>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -54,7 +54,9 @@ using run_out_utils::DynamicObstacleData;
 using run_out_utils::DynamicObstacleParam;
 using run_out_utils::PlannerParam;
 using run_out_utils::PredictedPath;
+using ::behavior_velocity_planner::PlannerData;
 using PathPointsWithLaneId = std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId>;
+using ::behavior_velocity_planner::Polygons2d;
 
 /**
  * @brief base class for creating dynamic obstacles from multiple types of input
@@ -171,6 +173,6 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator
   pcl::PointCloud<pcl::PointXYZ> obstacle_points_map_filtered_;
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DYNAMIC_OBSTACLE_HPP_

planning/behavior_velocity_run_out_module/src/manager.cpp → planning/autoware_behavior_velocity_run_out_module/src/manager.cpp

@@ -20,10 +20,10 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::getOrDeclareParameter;
-
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
@@ -200,8 +200,8 @@ void RunOutModuleManager::setDynamicObstacleCreator(
       break;
   }
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::RunOutModulePlugin, behavior_velocity_planner::PluginInterface)
+  ::autoware::behavior_velocity_planner::RunOutModulePlugin, ::behavior_velocity_planner::PluginInterface)

planning/behavior_velocity_run_out_module/src/manager.hpp → planning/autoware_behavior_velocity_run_out_module/src/manager.hpp

@@ -23,8 +23,11 @@
 
 #include <memory>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
+using ::behavior_velocity_planner::PluginWrapper;
 class RunOutModuleManager : public SceneModuleManagerInterface
 {
 public:
@@ -49,6 +52,6 @@ class RunOutModulePlugin : public PluginWrapper<RunOutModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_

planning/behavior_velocity_run_out_module/src/path_utils.cpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.cpp

@@ -15,7 +15,7 @@
 #include "path_utils.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
-namespace behavior_velocity_planner::run_out_utils
+namespace autoware::behavior_velocity_planner::run_out_utils
 {
 geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
@@ -36,4 +36,4 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   return min_dist_point;
 }
 
-}  // namespace behavior_velocity_planner::run_out_utils
+}  // namespace autoware::behavior_velocity_planner::run_out_utils

planning/behavior_velocity_run_out_module/src/path_utils.hpp → planning/autoware_behavior_velocity_run_out_module/src/path_utils.hpp

@@ -25,7 +25,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -36,5 +36,5 @@ geometry_msgs::msg::Point findLongitudinalNearestPoint(
   const std::vector<geometry_msgs::msg::Point> & target_points);
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 #endif  // PATH_UTILS_HPP_

planning/behavior_velocity_run_out_module/src/scene.cpp → planning/autoware_behavior_velocity_run_out_module/src/scene.cpp

@@ -34,10 +34,14 @@
 #include <limits>
 #include <utility>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 using object_recognition_utils::convertLabelToString;
+using ::behavior_velocity_planner::PlanningBehavior;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
+using ::behavior_velocity_planner::getCrosswalksOnPath;
+using ::behavior_velocity_planner::Polygon2d;
 
 RunOutModule::RunOutModule(
   const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
@@ -1031,4 +1035,4 @@ bool RunOutModule::isMomentaryDetection()
 
   return elapsed_time_since_detection < planner_param_.ignore_momentary_detection.time_threshold;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/scene.hpp → planning/autoware_behavior_velocity_run_out_module/src/scene.hpp

@@ -30,7 +30,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
@@ -39,6 +39,11 @@ using run_out_utils::PlannerParam;
 using run_out_utils::PoseWithRange;
 using tier4_debug_msgs::msg::Float32Stamped;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::StopReason;
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::Polygon2d;
 
 class RunOutModule : public SceneModuleInterface
 {
@@ -177,6 +182,6 @@ class RunOutModule : public SceneModuleInterface
 
   bool isMomentaryDetection();
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_

planning/behavior_velocity_run_out_module/src/state_machine.cpp → planning/autoware_behavior_velocity_run_out_module/src/state_machine.cpp

@@ -14,7 +14,7 @@
 
 #include "state_machine.hpp"
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -107,4 +107,4 @@ void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & c
 }
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/state_machine.hpp → planning/autoware_behavior_velocity_run_out_module/src/state_machine.hpp

@@ -19,7 +19,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner::run_out_utils
+namespace autoware::behavior_velocity_planner::run_out_utils
 {
 
 class StateMachine
@@ -53,6 +53,6 @@ class StateMachine
   std::optional<DynamicObstacle> prev_obstacle_{};
   std::optional<DynamicObstacle> target_obstacle_{};
 };
-}  // namespace behavior_velocity_planner::run_out_utils
+}  // namespace autoware::behavior_velocity_planner::run_out_utils
 
 #endif  // STATE_MACHINE_HPP_

planning/behavior_velocity_run_out_module/src/utils.cpp → planning/autoware_behavior_velocity_run_out_module/src/utils.cpp

@@ -33,8 +33,11 @@
 #endif
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PathPointWithLaneId;
+using ::behavior_velocity_planner::DetectionRange;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 namespace run_out_utils
 {
 Polygon2d createBoostPolyFromMsg(const std::vector<geometry_msgs::msg::Point> & input_poly)
@@ -450,4 +453,4 @@ Polygons2d createMandatoryDetectionAreaPolygon(
 }
 
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_run_out_module/src/utils.hpp → planning/autoware_behavior_velocity_run_out_module/src/utils.hpp

@@ -29,7 +29,7 @@
 
 #include <string>
 #include <vector>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
 {
@@ -45,6 +45,8 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using tier4_debug_msgs::msg::Float32Stamped;
 using vehicle_info_util::VehicleInfo;
+using ::behavior_velocity_planner::Polygons2d;
+using ::behavior_velocity_planner::PlannerData;
 using PathPointsWithLaneId = std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId>;
 struct CommonParam
 {
@@ -271,5 +273,5 @@ Polygons2d createMandatoryDetectionAreaPolygon(
   const PathWithLaneId & path, const PlannerData & planner_data,
   const PlannerParam & planner_param);
 }  // namespace run_out_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 #endif  // UTILS_HPP_