refactor(sampling_based_planner): add autoware prefix (#7348)

Signed-off-by: Maxime CLEMENT <[email protected]>

.github/CODEOWNERS

@@ -194,10 +194,10 @@ planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/rtc_interface/** [email protected] [email protected] [email protected] [email protected]
 planning/rtc_replayer/** [email protected] [email protected]
-planning/sampling_based_planner/bezier_sampler/** [email protected]
-planning/sampling_based_planner/frenet_planner/** [email protected]
-planning/sampling_based_planner/path_sampler/** [email protected]
-planning/sampling_based_planner/sampler_common/** [email protected]
+planning/sampling_based_planner/autoware_bezier_sampler/** [email protected]
+planning/sampling_based_planner/autoware_frenet_planner/** [email protected]
+planning/sampling_based_planner/autoware_path_sampler/** [email protected]
+planning/sampling_based_planner/autoware_sampler_common/** [email protected]
 planning/scenario_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_surround_obstacle_checker/** [email protected]
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -80,7 +80,7 @@
 
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'path_sampler'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="path_sampler" plugin="path_sampler::PathSampler" name="path_sampler" namespace="">
+        <composable_node pkg="autoware_path_sampler" plugin="autoware::path_sampler::PathSampler" name="path_sampler" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>

planning/.pages

@@ -56,10 +56,10 @@ nav:
       - 'About Path Smoother': planning/path_smoother
       - 'Elastic Band': planning/path_smoother/docs/eb
     - 'Sampling Based Planner':
-      - 'Path Sample': planning/sampling_based_planner/path_sampler
-      - 'Common library': planning/sampling_based_planner/sampler_common
-      - 'Frenet Planner': planning/sampling_based_planner/frenet_planner
-      - 'Bezier Sampler': planning/sampling_based_planner/bezier_sampler
+      - 'Path Sample': planning/sampling_based_planner/autoware_path_sampler
+      - 'Common library': planning/sampling_based_planner/autoware_sampler_common
+      - 'Frenet Planner': planning/sampling_based_planner/autoware_frenet_planner
+      - 'Bezier Sampler': planning/sampling_based_planner/autoware_bezier_sampler
     - 'Surround Obstacle Checker':
       - 'About Surround Obstacle Checker': planning/autoware_surround_obstacle_checker
       - 'About Surround Obstacle Checker (Japanese)': planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja

planning/behavior_path_planner/package.xml

@@ -38,13 +38,14 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_frenet_planner</depend>
+  <depend>autoware_path_sampler</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>behaviortree_cpp_v3</depend>
   <depend>freespace_planning_algorithms</depend>
-  <depend>frenet_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lane_departure_checker</depend>
@@ -54,7 +55,6 @@
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>object_recognition_utils</depend>
-  <depend>path_sampler</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_module.hpp

@@ -21,19 +21,19 @@
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
+#include "autoware_bezier_sampler/bezier_sampling.hpp"
+#include "autoware_frenet_planner/frenet_planner.hpp"
+#include "autoware_sampler_common/constraints/footprint.hpp"
+#include "autoware_sampler_common/constraints/hard_constraint.hpp"
+#include "autoware_sampler_common/constraints/soft_constraint.hpp"
+#include "autoware_sampler_common/structures.hpp"
+#include "autoware_sampler_common/transform/spline_transform.hpp"
 #include "behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
 #include "behavior_path_sampling_planner_module/util.hpp"
-#include "bezier_sampler/bezier_sampling.hpp"
-#include "frenet_planner/frenet_planner.hpp"
 #include "lanelet2_extension/utility/query.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "sampler_common/constraints/footprint.hpp"
-#include "sampler_common/constraints/hard_constraint.hpp"
-#include "sampler_common/constraints/soft_constraint.hpp"
-#include "sampler_common/structures.hpp"
-#include "sampler_common/transform/spline_transform.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/math/constants.hpp"
@@ -73,7 +73,7 @@ struct SamplingPlannerData
 
 struct SamplingPlannerDebugData
 {
-  std::vector<sampler_common::Path> sampled_candidates{};
+  std::vector<autoware::sampler_common::Path> sampled_candidates{};
   size_t previous_sampled_candidates_nb = 0UL;
   std::vector<tier4_autoware_utils::Polygon2d> obstacles{};
   std::vector<tier4_autoware_utils::MultiPoint2d> footprints{};
@@ -231,25 +231,25 @@ class SamplingPlannerModule : public SceneModuleInterface
   void updateDebugMarkers();
 
   void prepareConstraints(
-    sampler_common::Constraints & constraints,
+    autoware::sampler_common::Constraints & constraints,
     const PredictedObjects::ConstSharedPtr & predicted_objects,
     const std::vector<geometry_msgs::msg::Point> & left_bound,
     const std::vector<geometry_msgs::msg::Point> & right_bound) const;
 
-  frenet_planner::SamplingParameters prepareSamplingParameters(
-    const sampler_common::State & initial_state,
-    const sampler_common::transform::Spline2D & path_spline,
+  autoware::frenet_planner::SamplingParameters prepareSamplingParameters(
+    const autoware::sampler_common::State & initial_state,
+    const autoware::sampler_common::transform::Spline2D & path_spline,
     const SamplingPlannerInternalParameters & internal_params_);
 
   PathWithLaneId convertFrenetPathToPathWithLaneID(
-    const frenet_planner::Path frenet_path, const lanelet::ConstLanelets & lanelets,
+    const autoware::frenet_planner::Path frenet_path, const lanelet::ConstLanelets & lanelets,
     const double path_z);
 
   // member
   // std::shared_ptr<SamplingPlannerParameters> params_;
   std::shared_ptr<SamplingPlannerInternalParameters> internal_params_;
   vehicle_info_util::VehicleInfo vehicle_info_{};
-  std::optional<frenet_planner::Path> prev_sampling_path_ = std::nullopt;
+  std::optional<autoware::frenet_planner::Path> prev_sampling_path_ = std::nullopt;
   // move to utils
 
   void extendOutputDrivableArea(

planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp

@@ -15,8 +15,8 @@
 #ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
 #define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
 
-#include "bezier_sampler/bezier_sampling.hpp"
-#include "sampler_common/structures.hpp"
+#include "autoware_bezier_sampler/bezier_sampling.hpp"
+#include "autoware_sampler_common/structures.hpp"
 
 #include <vector>
 namespace behavior_path_planner
@@ -78,12 +78,12 @@ struct Sampling
   std::vector<double> target_lateral_positions{};
   int nb_target_lateral_positions{};
   Frenet frenet;
-  bezier_sampler::SamplingParameters bezier{};
+  autoware::bezier_sampler::SamplingParameters bezier{};
 };
 
 struct SamplingPlannerInternalParameters
 {
-  sampler_common::Constraints constraints;
+  autoware::sampler_common::Constraints constraints;
   Sampling sampling;
   Preprocessing preprocessing{};
 };

planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/util.hpp

@@ -14,8 +14,8 @@
 
 #ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
 #define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
-#include "sampler_common/structures.hpp"
-#include "sampler_common/transform/spline_transform.hpp"
+#include "autoware_sampler_common/structures.hpp"
+#include "autoware_sampler_common/transform/spline_transform.hpp"
 
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
@@ -40,18 +40,20 @@ struct SoftConstraintsInputs
   lanelet::ConstLanelets closest_lanelets_to_goal;
   behavior_path_planner::PlanResult reference_path;
   behavior_path_planner::PlanResult prev_module_path;
-  std::optional<sampler_common::Path> prev_path;
+  std::optional<autoware::sampler_common::Path> prev_path;
   lanelet::ConstLanelets current_lanes;
 };
 
 using SoftConstraintsFunctionVector = std::vector<std::function<double(
-  sampler_common::Path &, const sampler_common::Constraints &, const SoftConstraintsInputs &)>>;
+  autoware::sampler_common::Path &, const autoware::sampler_common::Constraints &,
+  const SoftConstraintsInputs &)>>;
 
 using HardConstraintsFunctionVector = std::vector<std::function<bool(
-  sampler_common::Path &, const sampler_common::Constraints &, const MultiPoint2d &)>>;
+  autoware::sampler_common::Path &, const autoware::sampler_common::Constraints &,
+  const MultiPoint2d &)>>;
 
 inline std::vector<double> evaluateSoftConstraints(
-  sampler_common::Path & path, const sampler_common::Constraints & constraints,
+  autoware::sampler_common::Path & path, const autoware::sampler_common::Constraints & constraints,
   const SoftConstraintsFunctionVector & soft_constraints_functions,
   const SoftConstraintsInputs & input_data)
 {
@@ -71,7 +73,7 @@ inline std::vector<double> evaluateSoftConstraints(
 }
 
 inline std::vector<bool> evaluateHardConstraints(
-  sampler_common::Path & path, const sampler_common::Constraints & constraints,
+  autoware::sampler_common::Path & path, const autoware::sampler_common::Constraints & constraints,
   const MultiPoint2d & footprint, const HardConstraintsFunctionVector & hard_constraints)
 {
   std::vector<bool> constraints_results;
@@ -86,11 +88,11 @@ inline std::vector<bool> evaluateHardConstraints(
   return constraints_results;
 }
 
-inline sampler_common::State getInitialState(
+inline autoware::sampler_common::State getInitialState(
   const geometry_msgs::msg::Pose & pose,
-  const sampler_common::transform::Spline2D & reference_spline)
+  const autoware::sampler_common::transform::Spline2D & reference_spline)
 {
-  sampler_common::State initial_state;
+  autoware::sampler_common::State initial_state;
   Point2d initial_state_pose{pose.position.x, pose.position.y};
   const auto rpy = tier4_autoware_utils::getRPY(pose.orientation);
   initial_state.pose = initial_state_pose;

planning/behavior_path_sampling_planner_module/package.xml

@@ -14,17 +14,17 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_bezier_sampler</depend>
+  <depend>autoware_frenet_planner</depend>
+  <depend>autoware_path_sampler</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>bezier_sampler</depend>
-  <depend>frenet_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
-  <depend>path_sampler</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>