chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename …

…avoidance package (#7168) * chore(autoware_behavior_path_static_obstacle_avoidance_module): rename package and namespace Signed-off-by: satoshi-ota <[email protected]> * chore(autoware_behavior_path_dynamic_obstacle_avoidance_module): rename package and namespace Signed-off-by: satoshi-ota <[email protected]> * chore(tier4_planning_launch): update module name Signed-off-by: satoshi-ota <[email protected]> * chore(rtc_interface): update module name Signed-off-by: satoshi-ota <[email protected]> * chore(avoidance): update module param file name Signed-off-by: satoshi-ota <[email protected]> * chore(avoidance): update schema file name Signed-off-by: satoshi-ota <[email protected]> * fix(AbLC): fix file name Signed-off-by: satoshi-ota <[email protected]> * docs: update module name Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · May 31, 2024 · badf1f7 · badf1f7
1 parent a4a3b82
commit badf1f7
Show file tree

Hide file tree

Showing 81 changed files with 375 additions and 335 deletions.
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
@@ -7,9 +7,9 @@
   <arg name="enable_all_modules_auto_mode"/>
   <arg name="is_simulation"/>
 
-  <arg name="launch_avoidance_module" default="true"/>
+  <arg name="launch_static_obstacle_avoidance" default="true"/>
   <arg name="launch_avoidance_by_lane_change_module" default="true"/>
-  <arg name="launch_dynamic_avoidance_module" default="true"/>
+  <arg name="launch_dynamic_obstacle_avoidance" default="true"/>
   <arg name="launch_lane_change_right_module" default="true"/>
   <arg name="launch_lane_change_left_module" default="true"/>
   <arg name="launch_external_request_lane_change_right_module" default="true"/>
@@ -42,13 +42,13 @@
   <arg name="behavior_path_planner_launch_modules" default="["/>
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceModuleManager, '&quot;)"
-    if="$(var launch_avoidance_module)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::StaticObstacleAvoidanceModuleManager, '&quot;)"
+    if="$(var launch_static_obstacle_avoidance)"
   />
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicAvoidanceModuleManager, '&quot;)"
-    if="$(var launch_dynamic_avoidance_module)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicObstacleAvoidanceModuleManager, '&quot;)"
+    if="$(var launch_dynamic_obstacle_avoidance)"
   />
   <let
     name="behavior_path_planner_launch_modules"
@@ -206,9 +206,9 @@
       <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <param name="is_simulation" value="$(var is_simulation)"/>
       <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
-      <param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
+      <param from="$(var behavior_path_planner_static_obstacle_avoidance_module_param_path)"/>
       <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
-      <param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
+      <param from="$(var behavior_path_planner_dynamic_obstacle_avoidance_module_param_path)"/>
       <param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
       <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
       <param from="$(var behavior_path_planner_start_planner_module_param_path)"/>

diff --git a/...h_dynamic_avoidance_module/CMakeLists.txt → ..._obstacle_avoidance_module/CMakeLists.txt b/...h_dynamic_avoidance_module/CMakeLists.txt → ..._obstacle_avoidance_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_path_dynamic_avoidance_module)
+project(autoware_behavior_path_dynamic_obstacle_avoidance_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...r_path_dynamic_avoidance_module/README.md → ...namic_obstacle_avoidance_module/README.md b/...r_path_dynamic_avoidance_module/README.md → ...namic_obstacle_avoidance_module/README.md
@@ -1,4 +1,4 @@
-# Dynamic avoidance design
+# Avoidance module for dynamic objects
 
 This module is under development.
 

diff --git a/...odule/config/dynamic_avoidance.param.yaml → ...fig/dynamic_obstacle_avoidance.param.yaml b/...odule/config/dynamic_avoidance.param.yaml → ...fig/dynamic_obstacle_avoidance.param.yaml
diff --git a/...ance_module/image/2024-04-18_15-13-01.png → ...ance_module/image/2024-04-18_15-13-01.png b/...ance_module/image/2024-04-18_15-13-01.png → ...ance_module/image/2024-04-18_15-13-01.png
diff --git a/...ance_module/image/2024-04-18_15-32-03.png → ...ance_module/image/2024-04-18_15-32-03.png b/...ance_module/image/2024-04-18_15-32-03.png → ...ance_module/image/2024-04-18_15-32-03.png
diff --git a/...drivable_area_extraction_width.drawio.svg → ...drivable_area_extraction_width.drawio.svg b/...drivable_area_extraction_width.drawio.svg → ...drivable_area_extraction_width.drawio.svg
diff --git a/...ce_module/image/image-20230807-151945.png → ...ce_module/image/image-20230807-151945.png b/...ce_module/image/image-20230807-151945.png → ...ce_module/image/image-20230807-151945.png
diff --git a/...ce_module/image/image-20230807-152835.png → ...ce_module/image/image-20230807-152835.png b/...ce_module/image/image-20230807-152835.png → ...ce_module/image/image-20230807-152835.png
diff --git a/...ce_module/image/image-20230808-095936.png → ...ce_module/image/image-20230808-095936.png b/...ce_module/image/image-20230808-095936.png → ...ce_module/image/image-20230808-095936.png
diff --git a/...ce_module/image/image-20230808-152853.png → ...ce_module/image/image-20230808-152853.png b/...ce_module/image/image-20230808-152853.png → ...ce_module/image/image-20230808-152853.png
diff --git a/...ule/image/opposite_directional_object.svg → ...ule/image/opposite_directional_object.svg b/...ule/image/opposite_directional_object.svg → ...ule/image/opposite_directional_object.svg
diff --git a/..._module/image/same_directional_object.svg → ..._module/image/same_directional_object.svg b/..._module/image/same_directional_object.svg → ..._module/image/same_directional_object.svg
diff --git a/...path_dynamic_avoidance_module/manager.hpp → ...mic_obstacle_avoidance_module/manager.hpp b/...path_dynamic_avoidance_module/manager.hpp → ...mic_obstacle_avoidance_module/manager.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_
 
-#include "behavior_path_dynamic_avoidance_module/scene.hpp"
+#include "autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp"
 #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -28,16 +28,19 @@
 namespace behavior_path_planner
 {
 
-class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface
+class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
 {
 public:
-  DynamicAvoidanceModuleManager() : SceneModuleManagerInterface{"dynamic_avoidance"} {}
+  DynamicObstacleAvoidanceModuleManager()
+  : SceneModuleManagerInterface{"dynamic_obstacle_avoidance"}
+  {
+  }
 
   void init(rclcpp::Node * node) override;
 
   std::unique_ptr<SceneModuleInterface> createNewSceneModuleInstance() override
   {
-    return std::make_unique<DynamicAvoidanceModule>(
+    return std::make_unique<DynamicObstacleAvoidanceModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
       objects_of_interest_marker_interface_ptr_map_);
   }
@@ -52,4 +55,4 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_
diff --git a/...r_path_dynamic_avoidance_module/scene.hpp → ...namic_obstacle_avoidance_module/scene.hpp b/...r_path_dynamic_avoidance_module/scene.hpp → ...namic_obstacle_avoidance_module/scene.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_
-#define BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_
 
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
@@ -164,7 +164,7 @@ struct LatFeasiblePaths
   std::vector<geometry_msgs::msg::Point> left_path;
   std::vector<geometry_msgs::msg::Point> right_path;
 };
-class DynamicAvoidanceModule : public SceneModuleInterface
+class DynamicObstacleAvoidanceModule : public SceneModuleInterface
 {
 public:
   struct DynamicAvoidanceObject
@@ -336,7 +336,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface
     std::string reason{""};
   };
 
-  DynamicAvoidanceModule(
+  DynamicObstacleAvoidanceModule(
     const std::string & name, rclcpp::Node & node,
     std::shared_ptr<DynamicAvoidanceParameters> parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
@@ -444,8 +444,8 @@ class DynamicAvoidanceModule : public SceneModuleInterface
       getLogger(), parameters_->enable_debug_info, reason_text.c_str(), obj_uuid.c_str());
   }
 
-  std::vector<DynamicAvoidanceModule::DynamicAvoidanceObject> target_objects_;
-  // std::vector<DynamicAvoidanceModule::DynamicAvoidanceObject> prev_target_objects_;
+  std::vector<DynamicObstacleAvoidanceModule::DynamicAvoidanceObject> target_objects_;
+  // std::vector<DynamicObstacleAvoidanceModule::DynamicAvoidanceObject> prev_target_objects_;
   std::optional<std::vector<PathPointWithLaneId>> prev_input_ref_path_points_{std::nullopt};
   std::optional<std::vector<PathPointWithLaneId>> ref_path_before_lane_change_{std::nullopt};
   std::shared_ptr<DynamicAvoidanceParameters> parameters_;
@@ -458,4 +458,4 @@ class DynamicAvoidanceModule : public SceneModuleInterface
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_
diff --git a/...path_dynamic_avoidance_module/package.xml → ...mic_obstacle_avoidance_module/package.xml b/...path_dynamic_avoidance_module/package.xml → ...mic_obstacle_avoidance_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_path_dynamic_avoidance_module</name>
+  <name>autoware_behavior_path_dynamic_obstacle_avoidance_module</name>
   <version>0.1.0</version>
-  <description>The behavior_path_dynamic_avoidance_module package</description>
+  <description>The autoware_behavior_path_dynamic_obstacle_avoidance_module package</description>
 
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
   <maintainer email="[email protected]">Yuki Takagi</maintainer>

diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_path_dynamic_obstacle_avoidance_module">
+  <class type="behavior_path_planner::DynamicObstacleAvoidanceModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>
diff --git a/..._dynamic_avoidance_module/src/manager.cpp → ...obstacle_avoidance_module/src/manager.cpp b/..._dynamic_avoidance_module/src/manager.cpp → ...obstacle_avoidance_module/src/manager.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_dynamic_avoidance_module/manager.hpp"
+#include "autoware_behavior_path_dynamic_obstacle_avoidance_module/manager.hpp"
 
 #include "tier4_autoware_utils/ros/update_param.hpp"
 
@@ -37,7 +37,7 @@ PolygonGenerationMethod convertToPolygonGenerationMethod(const std::string & str
 }
 }  // namespace
 
-void DynamicAvoidanceModuleManager::init(rclcpp::Node * node)
+void DynamicObstacleAvoidanceModuleManager::init(rclcpp::Node * node)
 {
   // init manager interface
   initInterface(node, {""});
@@ -149,7 +149,7 @@ void DynamicAvoidanceModuleManager::init(rclcpp::Node * node)
   parameters_ = std::make_shared<DynamicAvoidanceParameters>(p);
 }
 
-void DynamicAvoidanceModuleManager::updateModuleParams(
+void DynamicObstacleAvoidanceModuleManager::updateModuleParams(
   [[maybe_unused]] const std::vector<rclcpp::Parameter> & parameters)
 {
   using tier4_autoware_utils::updateParam;
@@ -287,13 +287,13 @@ void DynamicAvoidanceModuleManager::updateModuleParams(
   });
 }
 
-bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const
+bool DynamicObstacleAvoidanceModuleManager::isAlwaysExecutableModule() const
 {
   return true;
 }
 }  // namespace behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_path_planner::DynamicAvoidanceModuleManager,
+  behavior_path_planner::DynamicObstacleAvoidanceModuleManager,
   behavior_path_planner::SceneModuleManagerInterface)