refactor(behavior_velocity_traffic_light_module): prefix package and …

…namespace with autoware_ Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · May 29, 2024 · 98f9b47 · 98f9b47
1 parent b7fb01c
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Showing 19 changed files with 60 additions and 35 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -148,6 +148,7 @@ perception/traffic_light_occlusion_predictor/** [email protected] tao.zhon
 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_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_traffic_light_module/** [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]
@@ -175,7 +176,6 @@ planning/behavior_velocity_run_out_module/** [email protected] makoto.kur
 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]
-planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]

diff --git a/planning/.pages b/planning/.pages
@@ -33,7 +33,7 @@ nav:
         - 'Run Out': planning/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
+        - 'Traffic Light': planning/autoware_behavior_velocity_traffic_light_module
         - 'Virtual Traffic Light': planning/behavior_velocity_virtual_traffic_light_module
         - 'Walkway': planning/behavior_velocity_walkway_module
   - 'Parking':

diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
@@ -15,7 +15,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)
 - [Stop Line](../behavior_velocity_stop_line_module/README.md)
 - [Virtual Traffic Light](../behavior_velocity_virtual_traffic_light_module/README.md)
-- [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
+- [Traffic Light](../autoware_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)

diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/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_traffic_light_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>
@@ -77,7 +78,6 @@
   <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>
   <test_depend>behavior_velocity_virtual_traffic_light_module</test_depend>
   <test_depend>behavior_velocity_walkway_module</test_depend>
   <!--<test_depend>behavior_velocity_template_module</test_depend>-->

diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -54,12 +54,19 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
 
-  const auto get_behavior_velocity_module_config = [](const std::string & module) {
+  // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
+  const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
     const auto package_name = "behavior_velocity_" + module + "_module";
     const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
     return package_path + "/config/" + module + ".param.yaml";
   };
 
+  const auto get_behavior_velocity_module_config = [](const std::string & module) {
+    const auto package_name = "autoware_behavior_velocity_" + module + "_module";
+    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
+    return package_path + "/config/" + module + ".param.yaml";
+  };
+
   std::vector<std::string> module_names;
   module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin");
@@ -90,20 +97,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
      motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
      motion_velocity_smoother_dir + "/config/Analytical.param.yaml",
      behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
-     get_behavior_velocity_module_config("blind_spot"),
-     get_behavior_velocity_module_config("crosswalk"),
-     get_behavior_velocity_module_config("walkway"),
-     get_behavior_velocity_module_config("detection_area"),
-     get_behavior_velocity_module_config("intersection"),
-     get_behavior_velocity_module_config("no_stopping_area"),
-     get_behavior_velocity_module_config("occlusion_spot"),
-     get_behavior_velocity_module_config("run_out"),
-     get_behavior_velocity_module_config("speed_bump"),
-     get_behavior_velocity_module_config("stop_line"),
+     get_behavior_velocity_module_config_no_prefix("blind_spot"),
+     get_behavior_velocity_module_config_no_prefix("crosswalk"),
+     get_behavior_velocity_module_config_no_prefix("walkway"),
+     get_behavior_velocity_module_config_no_prefix("detection_area"),
+     get_behavior_velocity_module_config_no_prefix("intersection"),
+     get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
+     get_behavior_velocity_module_config_no_prefix("occlusion_spot"),
+     get_behavior_velocity_module_config_no_prefix("run_out"),
+     get_behavior_velocity_module_config_no_prefix("speed_bump"),
+     get_behavior_velocity_module_config_no_prefix("stop_line"),
      get_behavior_velocity_module_config("traffic_light"),
-     get_behavior_velocity_module_config("virtual_traffic_light"),
-     get_behavior_velocity_module_config("out_of_lane"),
-     get_behavior_velocity_module_config("no_drivable_lane")});
+     get_behavior_velocity_module_config_no_prefix("virtual_traffic_light"),
+     get_behavior_velocity_module_config_no_prefix("out_of_lane"),
+     get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules
   // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light

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

diff --git a/...r_velocity_traffic_light_module/README.md → ...r_velocity_traffic_light_module/README.md b/...r_velocity_traffic_light_module/README.md → ...r_velocity_traffic_light_module/README.md
diff --git a/...ht_module/config/traffic_light.param.yaml → ...ht_module/config/traffic_light.param.yaml b/...ht_module/config/traffic_light.param.yaml → ...ht_module/config/traffic_light.param.yaml
diff --git a/...y_traffic_light_module/docs/crosswalk.png → ...y_traffic_light_module/docs/crosswalk.png b/...y_traffic_light_module/docs/crosswalk.png → ...y_traffic_light_module/docs/crosswalk.png
diff --git a/...affic_light_module/docs/traffic_light.svg → ...affic_light_module/docs/traffic_light.svg b/...affic_light_module/docs/traffic_light.svg → ...affic_light_module/docs/traffic_light.svg
diff --git a/...ght_module/docs/traffic_light_dilemma.svg → ...ght_module/docs/traffic_light_dilemma.svg b/...ght_module/docs/traffic_light_dilemma.svg → ...ght_module/docs/traffic_light_dilemma.svg
diff --git a/...velocity_traffic_light_module/package.xml → ...velocity_traffic_light_module/package.xml b/...velocity_traffic_light_module/package.xml → ...velocity_traffic_light_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_traffic_light_module</name>
+  <name>autoware_behavior_velocity_traffic_light_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_traffic_light_module package</description>
+  <description>The autoware_behavior_velocity_traffic_light_module package</description>
 
   <maintainer email="[email protected]">Satoshi Ota</maintainer>
   <maintainer email="[email protected]">Tomoya Kimura</maintainer>

diff --git a/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml b/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_traffic_light_module">
+  <class type="autoware::behavior_velocity_planner::TrafficLightModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/...locity_traffic_light_module/src/debug.cpp → ...locity_traffic_light_module/src/debug.cpp b/...locity_traffic_light_module/src/debug.cpp → ...locity_traffic_light_module/src/debug.cpp
@@ -24,7 +24,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 visualization_msgs::msg::MarkerArray TrafficLightModule::createDebugMarkerArray()
 {
@@ -54,4 +54,4 @@ motion_utils::VirtualWalls TrafficLightModule::createVirtualWalls()
   return virtual_walls;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...city_traffic_light_module/src/manager.cpp → ...city_traffic_light_module/src/manager.cpp b/...city_traffic_light_module/src/manager.cpp → ...city_traffic_light_module/src/manager.cpp
@@ -24,10 +24,15 @@
 #include <set>
 #include <string>
 #include <utility>
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlanningBehavior;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterfaceWithRTC;
+using ::behavior_velocity_planner::State;
 using lanelet::TrafficLight;
 using tier4_autoware_utils::getOrDeclareParameter;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 TrafficLightModuleManager::TrafficLightModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
@@ -189,8 +194,9 @@ bool TrafficLightModuleManager::hasSameTrafficLight(
   return false;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::TrafficLightModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::TrafficLightModulePlugin,
+  behavior_velocity_planner::PluginInterface)
diff --git a/...city_traffic_light_module/src/manager.hpp → ...city_traffic_light_module/src/manager.hpp b/...city_traffic_light_module/src/manager.hpp → ...city_traffic_light_module/src/manager.hpp
@@ -28,8 +28,11 @@
 #include <memory>
 #include <optional>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PluginWrapper;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterfaceWithRTC;
 class TrafficLightModuleManager : public SceneModuleManagerInterfaceWithRTC
 {
 public:
@@ -65,6 +68,6 @@ class TrafficLightModulePlugin : public PluginWrapper<TrafficLightModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/...locity_traffic_light_module/src/scene.cpp → ...locity_traffic_light_module/src/scene.cpp b/...locity_traffic_light_module/src/scene.cpp → ...locity_traffic_light_module/src/scene.cpp
@@ -34,9 +34,14 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using ::behavior_velocity_planner::LineString2d;
+using ::behavior_velocity_planner::PlanningBehavior;
+using ::behavior_velocity_planner::Point2d;
+using ::behavior_velocity_planner::VelocityFactor;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 namespace
 {
@@ -433,4 +438,4 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
   return modified_path;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...locity_traffic_light_module/src/scene.hpp → ...locity_traffic_light_module/src/scene.hpp b/...locity_traffic_light_module/src/scene.hpp → ...locity_traffic_light_module/src/scene.hpp
@@ -31,8 +31,12 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
+using ::behavior_velocity_planner::TrafficSignalStamped;
 class TrafficLightModule : public SceneModuleInterface
 {
 public:
@@ -129,6 +133,6 @@ class TrafficLightModule : public SceneModuleInterface
   // Traffic Light State
   TrafficSignal looking_tl_state_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_
diff --git a/planning/behavior_velocity_traffic_light_module/plugins.xml b/planning/behavior_velocity_traffic_light_module/plugins.xml