diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 5f5d5008c0f1c..1717d34221dd7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -148,6 +148,7 @@ perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhon perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @@ -175,7 +176,6 @@ planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kur planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_template_module/** daniel.sanchez@tier4.jp -planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/planning/.pages b/planning/.pages index 28a791801b805..c3355e41b99c9 100644 --- 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 index a68705e3f73a2..d220d80655fff 100644 --- 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 index 573d862f1725b..ea8d2431b24e3 100644 --- a/planning/autoware_behavior_velocity_planner/package.xml +++ b/planning/autoware_behavior_velocity_planner/package.xml @@ -65,6 +65,7 @@ ament_cmake_ros ament_lint_auto + autoware_behavior_velocity_traffic_light_module autoware_lint_common behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module @@ -77,7 +78,6 @@ behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module - behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module 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 index 06c1bc48cf529..cfd7afe7cd3c5 100644 --- 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 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 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 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/planning/behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt similarity index 85% rename from planning/behavior_velocity_traffic_light_module/CMakeLists.txt rename to planning/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt index 5737802408996..60cc9f93a02a5 100644 --- a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt +++ b/planning/autoware_behavior_velocity_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/planning/behavior_velocity_traffic_light_module/README.md b/planning/autoware_behavior_velocity_traffic_light_module/README.md similarity index 100% rename from planning/behavior_velocity_traffic_light_module/README.md rename to planning/autoware_behavior_velocity_traffic_light_module/README.md diff --git a/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml b/planning/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml similarity index 100% rename from planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml rename to planning/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml diff --git a/planning/behavior_velocity_traffic_light_module/docs/crosswalk.png b/planning/autoware_behavior_velocity_traffic_light_module/docs/crosswalk.png similarity index 100% rename from planning/behavior_velocity_traffic_light_module/docs/crosswalk.png rename to planning/autoware_behavior_velocity_traffic_light_module/docs/crosswalk.png diff --git a/planning/behavior_velocity_traffic_light_module/docs/traffic_light.svg b/planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light.svg similarity index 100% rename from planning/behavior_velocity_traffic_light_module/docs/traffic_light.svg rename to planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light.svg diff --git a/planning/behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg b/planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg similarity index 100% rename from planning/behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg rename to planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg diff --git a/planning/behavior_velocity_traffic_light_module/package.xml b/planning/autoware_behavior_velocity_traffic_light_module/package.xml similarity index 91% rename from planning/behavior_velocity_traffic_light_module/package.xml rename to planning/autoware_behavior_velocity_traffic_light_module/package.xml index 544e14f130a7e..6db6e6e3640e3 100644 --- a/planning/behavior_velocity_traffic_light_module/package.xml +++ b/planning/autoware_behavior_velocity_traffic_light_module/package.xml @@ -1,9 +1,9 @@ - behavior_velocity_traffic_light_module + autoware_behavior_velocity_traffic_light_module 0.1.0 - The behavior_velocity_traffic_light_module package + The autoware_behavior_velocity_traffic_light_module package Satoshi Ota Tomoya Kimura diff --git a/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml b/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml new file mode 100644 index 0000000000000..631a6a7d1ae73 --- /dev/null +++ b/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_velocity_traffic_light_module/src/debug.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/debug.cpp similarity index 95% rename from planning/behavior_velocity_traffic_light_module/src/debug.cpp rename to planning/autoware_behavior_velocity_traffic_light_module/src/debug.cpp index b3dedaa29d6ad..3010b24848629 100644 --- a/planning/behavior_velocity_traffic_light_module/src/debug.cpp +++ b/planning/autoware_behavior_velocity_traffic_light_module/src/debug.cpp @@ -24,7 +24,7 @@ #include #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/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.cpp similarity index 93% rename from planning/behavior_velocity_traffic_light_module/src/manager.cpp rename to planning/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index edddef5cef4d8..43a4d57aef117 100644 --- a/planning/behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -24,10 +24,15 @@ #include #include #include -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_EXPORT_CLASS( - behavior_velocity_planner::TrafficLightModulePlugin, behavior_velocity_planner::PluginInterface) + autoware::behavior_velocity_planner::TrafficLightModulePlugin, + behavior_velocity_planner::PluginInterface) diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.hpp b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.hpp similarity index 89% rename from planning/behavior_velocity_traffic_light_module/src/manager.hpp rename to planning/autoware_behavior_velocity_traffic_light_module/src/manager.hpp index 959ef2f91d36c..b0d53d8dc3afb 100644 --- a/planning/behavior_velocity_traffic_light_module/src/manager.hpp +++ b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.hpp @@ -28,8 +28,11 @@ #include #include -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 { }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // MANAGER_HPP_ diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.cpp similarity index 97% rename from planning/behavior_velocity_traffic_light_module/src/scene.cpp rename to planning/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 0158251bb42b4..4a1d0d337287b 100644 --- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -34,9 +34,14 @@ #include #include -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/planning/behavior_velocity_traffic_light_module/src/scene.hpp b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.hpp similarity index 92% rename from planning/behavior_velocity_traffic_light_module/src/scene.hpp rename to planning/autoware_behavior_velocity_traffic_light_module/src/scene.hpp index d6a409ca7034a..0e2883e434278 100644 --- a/planning/behavior_velocity_traffic_light_module/src/scene.hpp +++ b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.hpp @@ -31,8 +31,12 @@ #include #include -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 deleted file mode 100644 index b65cc66c5c232..0000000000000 --- a/planning/behavior_velocity_traffic_light_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - -