From b272b876bf696b38698f3d1a5a5fd711ea9d7979 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 23 May 2024 12:28:43 +0200
Subject: [PATCH] refactor(autoware_behavior_velocity_planner): move code to
 autoware::behavior_velocity_planner namespace

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../behavior_planning/behavior_planning.launch.xml   |  2 +-
 .../CMakeLists.txt                                   |  2 +-
 .../launch/behavior_velocity_planner.launch.xml      |  2 +-
 .../autoware_behavior_velocity_planner/src/node.cpp  | 12 ++++++------
 .../autoware_behavior_velocity_planner/src/node.hpp  |  5 +++--
 .../src/planner_manager.cpp                          |  4 ++--
 .../src/planner_manager.hpp                          |  7 +++++--
 .../test/src/test_node_interface.cpp                 |  4 ++--
 8 files changed, 21 insertions(+), 17 deletions(-)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index fab88983d4507..57d0280330641 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -220,7 +220,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="autoware_behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
+    <composable_node pkg="autoware_behavior_velocity_planner" plugin="autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
diff --git a/planning/autoware_behavior_velocity_planner/CMakeLists.txt b/planning/autoware_behavior_velocity_planner/CMakeLists.txt
index 20837553ea689..37a02b844dfe9 100644
--- a/planning/autoware_behavior_velocity_planner/CMakeLists.txt
+++ b/planning/autoware_behavior_velocity_planner/CMakeLists.txt
@@ -19,7 +19,7 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_lib
-  PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
+  PLUGIN "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
diff --git a/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
index c1631fdb739de..d4478f87f0610 100644
--- a/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
+++ b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
@@ -30,7 +30,7 @@
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
   <arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>
 
-  <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
+  <node pkg="autoware_behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <!-- topic remap -->
     <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
     <remap from="~/input/vector_map" to="/map/vector_map"/>
diff --git a/planning/autoware_behavior_velocity_planner/src/node.cpp b/planning/autoware_behavior_velocity_planner/src/node.cpp
index 1801db4658a72..3105a22927ad3 100644
--- a/planning/autoware_behavior_velocity_planner/src/node.cpp
+++ b/planning/autoware_behavior_velocity_planner/src/node.cpp
@@ -52,7 +52,7 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr)
 }
 }  // namespace
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -436,14 +436,14 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
     std::make_shared<const PlannerData>(planner_data), *input_path_msg);
 
   // screening
-  const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));
+  const auto filtered_path = ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
 
   // interpolation
   const auto interpolated_path_msg =
-    interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
+    ::behavior_velocity_planner::interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
 
   // check stop point
-  output_path_msg = filterStopPathPoint(interpolated_path_msg);
+  output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg);
 
   output_path_msg.header.frame_id = "map";
   output_path_msg.header.stamp = this->now();
@@ -477,7 +477,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker(
   }
   debug_viz_pub_->publish(output_msg);
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(behavior_velocity_planner::BehaviorVelocityPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode)
diff --git a/planning/autoware_behavior_velocity_planner/src/node.hpp b/planning/autoware_behavior_velocity_planner/src/node.hpp
index 470f208326dfc..d727a28557465 100644
--- a/planning/autoware_behavior_velocity_planner/src/node.hpp
+++ b/planning/autoware_behavior_velocity_planner/src/node.hpp
@@ -44,12 +44,13 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_behavior_velocity_planner::srv::LoadPlugin;
 using autoware_behavior_velocity_planner::srv::UnloadPlugin;
 using tier4_planning_msgs::msg::VelocityLimit;
+using ::behavior_velocity_planner::TrafficSignalStamped;
 
 class BehaviorVelocityPlannerNode : public rclcpp::Node
 {
@@ -134,6 +135,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // NODE_HPP_
diff --git a/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
index 2e963071e6de7..f939f67a06f9e 100644
--- a/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
+++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -128,4 +128,4 @@ diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopRe
 {
   return stop_reason_diag_;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
index 7485e5faba8bf..f9c1d0253de62 100644
--- a/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
+++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
@@ -36,8 +36,11 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::PluginInterface;
+
 class BehaviorVelocityPlannerManager
 {
 public:
@@ -56,6 +59,6 @@ class BehaviorVelocityPlannerManager
   pluginlib::ClassLoader<PluginInterface> plugin_loader_;
   std::vector<std::shared_ptr<PluginInterface>> scene_manager_plugins_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // PLANNER_MANAGER_HPP_
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 f70259b6a1f80..06c1bc48cf529 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
@@ -23,7 +23,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -50,7 +50,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto behavior_velocity_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_velocity_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");