refactor(geography_utils): prefix package and namespace with autoware (…

…#7790) * refactor(geography_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * move headers to include/autoware/ Signed-off-by: Esteve Fernandez <[email protected]> --------- Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Aug 15, 2024 · 59a04e5 · 59a04e5
1 parent 1f32972
commit 59a04e5
Show file tree

Hide file tree

Showing 23 changed files with 79 additions and 75 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,6 +1,7 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
+common/autoware_geography_utils/** [email protected]
 common/autoware_grid_map_utils/** [email protected]
 common/autoware_motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
@@ -17,7 +18,6 @@ common/component_interface_tools/** [email protected]
 common/component_interface_utils/** [email protected] [email protected]
 common/cuda_utils/** [email protected] [email protected]
 common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
-common/geography_utils/** [email protected]
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
 common/goal_distance_calculator/** [email protected]

diff --git a/common/geography_utils/CMakeLists.txt → ...n/autoware_geography_utils/CMakeLists.txt b/common/geography_utils/CMakeLists.txt → ...n/autoware_geography_utils/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(geography_utils)
+project(autoware_geography_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,13 +12,13 @@ find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
 set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR})
 find_library(GeographicLib_LIBRARIES NAMES Geographic)
 
-ament_auto_add_library(geography_utils SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/height.cpp
   src/projection.cpp
   src/lanelet2_projector.cpp
 )
 
-target_link_libraries(geography_utils
+target_link_libraries(${PROJECT_NAME}
   ${GeographicLib_LIBRARIES}
 )
 
@@ -27,10 +27,10 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/*.cpp)
 
-  ament_add_ros_isolated_gtest(test_geography_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
 
-  target_link_libraries(test_geography_utils
-  geography_utils
+  target_link_libraries(test_${PROJECT_NAME}
+  ${PROJECT_NAME}
   )
 endif()
 

diff --git a/common/geography_utils/README.md → common/autoware_geography_utils/README.md b/common/geography_utils/README.md → common/autoware_geography_utils/README.md
diff --git a/..._utils/include/geography_utils/height.hpp → ...clude/autoware/geography_utils/height.hpp b/..._utils/include/geography_utils/height.hpp → ...clude/autoware/geography_utils/height.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GEOGRAPHY_UTILS__HEIGHT_HPP_
-#define GEOGRAPHY_UTILS__HEIGHT_HPP_
+#ifndef AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_
+#define AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_
 
 #include <string>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 
 typedef double (*HeightConversionFunction)(
@@ -28,6 +28,6 @@ double convert_height(
   const double height, const double latitude, const double longitude,
   const std::string & source_vertical_datum, const std::string & target_vertical_datum);
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
 
-#endif  // GEOGRAPHY_UTILS__HEIGHT_HPP_
+#endif  // AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_
diff --git a/...de/geography_utils/lanelet2_projector.hpp → ...re/geography_utils/lanelet2_projector.hpp b/...de/geography_utils/lanelet2_projector.hpp → ...re/geography_utils/lanelet2_projector.hpp
@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
-#define GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
+#ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
+#define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
 #include <lanelet2_io/Projection.h>
 
 #include <memory>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
 
 std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info);
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
 
-#endif  // GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
+#endif  // AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
diff --git a/...ls/include/geography_utils/projection.hpp → ...e/autoware/geography_utils/projection.hpp b/...ls/include/geography_utils/projection.hpp → ...e/autoware/geography_utils/projection.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GEOGRAPHY_UTILS__PROJECTION_HPP_
-#define GEOGRAPHY_UTILS__PROJECTION_HPP_
+#ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_
+#define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_
 
 #include <geographic_msgs/msg/geo_point.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
 using GeoPoint = geographic_msgs::msg::GeoPoint;
@@ -28,6 +28,6 @@ using LocalPoint = geometry_msgs::msg::Point;
 LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info);
 GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info);
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
 
-#endif  // GEOGRAPHY_UTILS__PROJECTION_HPP_
+#endif  // AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_
diff --git a/common/geography_utils/package.xml → common/autoware_geography_utils/package.xml b/common/geography_utils/package.xml → common/autoware_geography_utils/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>geography_utils</name>
+  <name>autoware_geography_utils</name>
   <version>0.1.0</version>
-  <description>The geography_utils package</description>
+  <description>The autoware_geography_utils package</description>
   <maintainer email="[email protected]">Koji Minoda</maintainer>
   <license>Apache License 2.0</license>
 

diff --git a/common/geography_utils/src/height.cpp → ...n/autoware_geography_utils/src/height.cpp b/common/geography_utils/src/height.cpp → ...n/autoware_geography_utils/src/height.cpp
@@ -13,14 +13,14 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
-#include <geography_utils/height.hpp>
+#include <autoware/geography_utils/height.hpp>
 
 #include <map>
 #include <stdexcept>
 #include <string>
 #include <utility>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 
 double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude)
@@ -60,4 +60,4 @@ double convert_height(
   }
 }
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
diff --git a/...eography_utils/src/lanelet2_projector.cpp → ...eography_utils/src/lanelet2_projector.cpp b/...eography_utils/src/lanelet2_projector.cpp → ...eography_utils/src/lanelet2_projector.cpp
@@ -13,13 +13,13 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware/geography_utils/lanelet2_projector.hpp>
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
-#include <geography_utils/lanelet2_projector.hpp>
 
 #include <lanelet2_projection/UTM.h>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 
 std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info)
@@ -51,4 +51,4 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
   throw std::invalid_argument(error_msg);
 }
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
diff --git a/common/geography_utils/src/projection.cpp → ...toware_geography_utils/src/projection.cpp b/common/geography_utils/src/projection.cpp → ...toware_geography_utils/src/projection.cpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware/geography_utils/lanelet2_projector.hpp>
+#include <autoware/geography_utils/projection.hpp>
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
-#include <geography_utils/lanelet2_projector.hpp>
-#include <geography_utils/projection.hpp>
 
-namespace geography_utils
+namespace autoware::geography_utils
 {
 
 Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src)
@@ -92,4 +92,4 @@ GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo
   return geo_point;
 }
 
-}  // namespace geography_utils
+}  // namespace autoware::geography_utils
diff --git a/...raphy_utils/test/test_geography_utils.cpp → ...raphy_utils/test/test_geography_utils.cpp b/...raphy_utils/test/test_geography_utils.cpp → ...raphy_utils/test/test_geography_utils.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "geography_utils/height.hpp"
-#include "geography_utils/lanelet2_projector.hpp"
-#include "geography_utils/projection.hpp"
+#include "autoware/geography_utils/height.hpp"
+#include "autoware/geography_utils/lanelet2_projector.hpp"
+#include "autoware/geography_utils/projection.hpp"
 
 #include <gtest/gtest.h>
 

diff --git a/common/geography_utils/test/test_height.cpp → ...ware_geography_utils/test/test_height.cpp b/common/geography_utils/test/test_height.cpp → ...ware_geography_utils/test/test_height.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <geography_utils/height.hpp>
+#include <autoware/geography_utils/height.hpp>
 
 #include <gtest/gtest.h>
 
@@ -28,7 +28,7 @@ TEST(GeographyUtils, SameSourceTargetDatum)
   const std::string datum = "WGS84";
 
   double converted_height =
-    geography_utils::convert_height(height, latitude, longitude, datum, datum);
+    autoware::geography_utils::convert_height(height, latitude, longitude, datum, datum);
 
   EXPECT_DOUBLE_EQ(height, converted_height);
 }
@@ -44,7 +44,7 @@ TEST(GeographyUtils, ValidSourceTargetDatum)
   const double target_height = -30.18;
 
   double converted_height =
-    geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008");
+    autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008");
 
   EXPECT_NEAR(target_height, converted_height, 0.1);
 }
@@ -57,7 +57,7 @@ TEST(GeographyUtils, InvalidSourceTargetDatum)
   const double longitude = 139.0;
 
   EXPECT_THROW(
-    geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"),
+    autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"),
     std::invalid_argument);
 }
 
@@ -69,7 +69,7 @@ TEST(GeographyUtils, InvalidSourceDatum)
   const double longitude = 139.0;
 
   EXPECT_THROW(
-    geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"),
+    autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"),
     std::invalid_argument);
 }
 
@@ -81,6 +81,6 @@ TEST(GeographyUtils, InvalidTargetDatum)
   const double longitude = 139.0;
 
   EXPECT_THROW(
-    geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"),
+    autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"),
     std::invalid_argument);
 }
diff --git a/.../geography_utils/test/test_projection.cpp → ..._geography_utils/test/test_projection.cpp b/.../geography_utils/test/test_projection.cpp → ..._geography_utils/test/test_projection.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <geography_utils/projection.hpp>
+#include <autoware/geography_utils/projection.hpp>
 
 #include <gtest/gtest.h>
 
@@ -41,7 +41,7 @@ TEST(GeographyUtilsProjection, ProjectForwardToMGRS)
 
   // conversion
   const geometry_msgs::msg::Point converted_point =
-    geography_utils::project_forward(geo_point, projector_info);
+    autoware::geography_utils::project_forward(geo_point, projector_info);
 
   EXPECT_NEAR(converted_point.x, local_point.x, 1.0);
   EXPECT_NEAR(converted_point.y, local_point.y, 1.0);
@@ -70,7 +70,7 @@ TEST(GeographyUtilsProjection, ProjectReverseFromMGRS)
 
   // conversion
   const geographic_msgs::msg::GeoPoint converted_point =
-    geography_utils::project_reverse(local_point, projector_info);
+    autoware::geography_utils::project_reverse(local_point, projector_info);
 
   EXPECT_NEAR(converted_point.latitude, geo_point.latitude, 0.0001);
   EXPECT_NEAR(converted_point.longitude, geo_point.longitude, 0.0001);
@@ -93,9 +93,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS)
 
   // conversion
   const geometry_msgs::msg::Point converted_local_point =
-    geography_utils::project_forward(geo_point, projector_info);
+    autoware::geography_utils::project_forward(geo_point, projector_info);
   const geographic_msgs::msg::GeoPoint converted_geo_point =
-    geography_utils::project_reverse(converted_local_point, projector_info);
+    autoware::geography_utils::project_reverse(converted_local_point, projector_info);
 
   EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001);
   EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001);
@@ -126,7 +126,7 @@ TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin)
 
   // conversion
   const geometry_msgs::msg::Point converted_point =
-    geography_utils::project_forward(geo_point, projector_info);
+    autoware::geography_utils::project_forward(geo_point, projector_info);
 
   EXPECT_NEAR(converted_point.x, local_point.x, 1.0);
   EXPECT_NEAR(converted_point.y, local_point.y, 1.0);
@@ -151,9 +151,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin)
 
   // conversion
   const geometry_msgs::msg::Point converted_local_point =
-    geography_utils::project_forward(geo_point, projector_info);
+    autoware::geography_utils::project_forward(geo_point, projector_info);
   const geographic_msgs::msg::GeoPoint converted_geo_point =
-    geography_utils::project_reverse(converted_local_point, projector_info);
+    autoware::geography_utils::project_reverse(converted_local_point, projector_info);
 
   EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001);
   EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001);

diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml
@@ -17,10 +17,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_geography_utils</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geographic_msgs</depend>
-  <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp
@@ -14,8 +14,8 @@
 
 #include "geo_pose_projector.hpp"
 
-#include <geography_utils/height.hpp>
-#include <geography_utils/projection.hpp>
+#include <autoware/geography_utils/height.hpp>
+#include <autoware/geography_utils/projection.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -66,8 +66,8 @@ void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr m
   gps_point.longitude = msg->pose.pose.position.longitude;
   gps_point.altitude = msg->pose.pose.position.altitude;
   geometry_msgs::msg::Point position =
-    geography_utils::project_forward(gps_point, projector_info_.value());
-  position.z = geography_utils::convert_height(
+    autoware::geography_utils::project_forward(gps_point, projector_info_.value());
+  position.z = autoware::geography_utils::convert_height(
     position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84,
     projector_info_.value().vertical_datum);
 

diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
@@ -19,12 +19,12 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_geography_utils</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>fmt</depend>
-  <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>