refactor(glog_component): prefix package and namespace with autoware (#…

…9302) Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]>
autowarefoundation · Dec 4, 2024 · 6ab469d · 6ab469d
1 parent ed133eb
commit 6ab469d
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Showing 16 changed files with 47 additions and 37 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -6,6 +6,7 @@ common/autoware_component_interface_tools/** [email protected]
 common/autoware_component_interface_utils/** [email protected] [email protected]
 common/autoware_fake_test_node/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_geography_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+common/autoware_glog_component/** [email protected]
 common/autoware_goal_distance_calculator/** [email protected]
 common/autoware_grid_map_utils/** [email protected]
 common/autoware_interpolation/** [email protected] [email protected]
@@ -31,7 +32,6 @@ common/autoware_universe_utils/** [email protected] [email protected]
 common/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
 common/global_parameter_loader/** [email protected]
-common/glog_component/** [email protected]
 common/tier4_adapi_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_api_utils/** [email protected]
 common/tier4_camera_view_rviz_plugin/** [email protected] [email protected]

diff --git a/common/.pages b/common/.pages
@@ -11,7 +11,7 @@ nav:
     - 'autoware_point_types': common/autoware_point_types
     - 'Geography Utils': common/autoware_geography_utils
     - 'Global Parameter Loader': common/global_parameter_loader/Readme
-    - 'Glog Component': common/glog_component
+    - 'Glog Component': common/autoware_glog_component
     - 'interpolation': common/autoware_interpolation
     - 'Kalman Filter': common/autoware_kalman_filter
     - 'Motion Utils': common/autoware_motion_utils

diff --git a/common/glog_component/CHANGELOG.rst → common/autoware_glog_component/CHANGELOG.rst b/common/glog_component/CHANGELOG.rst → common/autoware_glog_component/CHANGELOG.rst
diff --git a/common/autoware_glog_component/CMakeLists.txt b/common/autoware_glog_component/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_glog_component)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/glog_component.cpp
+)
+target_link_libraries(${PROJECT_NAME} glog::glog)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::glog_component::GlogComponent"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+ament_auto_package()
diff --git a/common/glog_component/README.md → common/autoware_glog_component/README.md b/common/glog_component/README.md → common/autoware_glog_component/README.md
@@ -10,8 +10,8 @@ When you load the `glog_component` in container, the launch file can be like bel
 
 ```py
 glog_component = ComposableNode(
-    package="glog_component",
-    plugin="GlogComponent",
+    package="autoware_glog_component",
+    plugin="autoware::glog_component::GlogComponent",
     name="glog_component",
 )
 

diff --git a/...include/glog_component/glog_component.hpp → ...utoware/glog_component/glog_component.hpp b/...include/glog_component/glog_component.hpp → ...utoware/glog_component/glog_component.hpp
@@ -12,17 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_
-#define GLOG_COMPONENT__GLOG_COMPONENT_HPP_
+#ifndef AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_
+#define AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <glog/logging.h>
 
+namespace autoware::glog_component
+{
+
 class GlogComponent : public rclcpp::Node
 {
 public:
   explicit GlogComponent(const rclcpp::NodeOptions & node_options);
 };
 
-#endif  // GLOG_COMPONENT__GLOG_COMPONENT_HPP_
+}  // namespace autoware::glog_component
+
+#endif  // AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_
diff --git a/common/glog_component/package.xml → common/autoware_glog_component/package.xml b/common/glog_component/package.xml → common/autoware_glog_component/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>glog_component</name>
+  <name>autoware_glog_component</name>
   <version>0.38.0</version>
-  <description>The glog_component package</description>
+  <description>The autoware_glog_component package</description>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
 

diff --git a/common/glog_component/src/glog_component.cpp → ...are_glog_component/src/glog_component.cpp b/common/glog_component/src/glog_component.cpp → ...are_glog_component/src/glog_component.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "glog_component/glog_component.hpp"
+#include "autoware/glog_component/glog_component.hpp"
+
+namespace autoware::glog_component
+{
 
 GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options)
 : Node("glog_component", node_options)
@@ -23,5 +26,7 @@ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options)
   }
 }
 
+}  // namespace autoware::glog_component
+
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::glog_component::GlogComponent)
diff --git a/common/glog_component/CMakeLists.txt b/common/glog_component/CMakeLists.txt
diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
@@ -51,7 +51,7 @@
     <group>
       <!-- set a control container to run all required components in the same process -->
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_control_container_component"/>
+        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_control_container_component"/>
         <!-- shift decider -->
         <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
           <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
@@ -177,7 +177,7 @@
     <group>
       <!-- set a control check container to run all control checker components in the same process -->
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_check_container" namespace="">
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_control_check_container_component"/>
+        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_control_check_container_component"/>
       </node_container>
 
       <!-- lane departure checker -->

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
@@ -255,7 +255,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">

diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -27,7 +27,7 @@
   <let name="motion_velocity_planner_launch_modules" value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen">
-    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
   <!-- path smoothing -->

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
@@ -32,7 +32,7 @@
         <extra_arg name="use_intra_process_comms" value="false"/>
       </composable_node>
 
-      <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+      <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
     </node_container>
   </group>
 </launch>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -44,7 +44,7 @@
           <remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
           <remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
         </composable_node>
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
       </node_container>
     </group>
   </group>

diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
@@ -63,6 +63,7 @@
   <exec_depend>autoware_external_cmd_selector</exec_depend>
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_freespace_planner</exec_depend>
+  <exec_depend>autoware_glog_component</exec_depend>
   <exec_depend>autoware_mission_planner</exec_depend>
   <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
   <exec_depend>autoware_obstacle_stop_planner</exec_depend>
@@ -74,7 +75,6 @@
   <exec_depend>autoware_scenario_selector</exec_depend>
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
-  <exec_depend>glog_component</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml
@@ -23,6 +23,6 @@
       <remap from="~/planner/route" to="route"/>
       <remap from="~/planner/state" to="state"/>
     </composable_node>
-    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 </launch>