refactor(autoware_velocity_virtual_traffic_light_module): prefix pack…

…age with autoware_ and move code to the autoware namespace (#7155) Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Jun 5, 2024 · f061073 · f061073
1 parent 0160f36
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -147,6 +147,7 @@ perception/traffic_light_visualization/** [email protected] yukihiro.saito@tier
 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_template_module/** [email protected]
+planning/autoware_behavior_velocity_virtual_traffic_light_module/** [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]
@@ -174,7 +175,6 @@ 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_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]
 planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]

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
@@ -136,7 +136,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
     if="$(var launch_virtual_traffic_light_module)"
   />
   <let

diff --git a/planning/.pages b/planning/.pages
@@ -34,7 +34,7 @@ nav:
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_traffic_light_module
-        - 'Virtual Traffic Light': planning/behavior_velocity_virtual_traffic_light_module
+        - 'Virtual Traffic Light': planning/autoware_behavior_velocity_virtual_traffic_light_module
         - 'Walkway': planning/behavior_velocity_walkway_module
   - 'Parking':
     - 'Freespace Planner':

diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
@@ -14,7 +14,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Intersection](../behavior_velocity_intersection_module/README.md)
 - [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)
+- [Virtual Traffic Light](../autoware_behavior_velocity_virtual_traffic_light_module/README.md)
 - [Traffic Light](../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)

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_virtual_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>
@@ -78,7 +79,6 @@
   <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>autoware_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 velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("autoware_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");
@@ -68,7 +75,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::BlindSpotModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin");
+  module_names.emplace_back("autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
   module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
@@ -89,20 +96,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
                    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("traffic_light"),
+                   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_no_prefix("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("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/...rtual_traffic_light_module/CMakeLists.txt → ...rtual_traffic_light_module/CMakeLists.txt b/...rtual_traffic_light_module/CMakeLists.txt → ...rtual_traffic_light_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_virtual_traffic_light_module)
+project(autoware_behavior_velocity_virtual_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...ty_virtual_traffic_light_module/README.md → ...ty_virtual_traffic_light_module/README.md b/...ty_virtual_traffic_light_module/README.md → ...ty_virtual_traffic_light_module/README.md
diff --git a/...e/config/virtual_traffic_light.param.yaml → ...e/config/virtual_traffic_light.param.yaml b/...e/config/virtual_traffic_light.param.yaml → ...e/config/virtual_traffic_light.param.yaml
diff --git a/...module/docs/V2X_support_traffic_light.png → ...module/docs/V2X_support_traffic_light.png b/...module/docs/V2X_support_traffic_light.png → ...module/docs/V2X_support_traffic_light.png
diff --git a/...module/docs/intersection-coordination.png → ...module/docs/intersection-coordination.png b/...module/docs/intersection-coordination.png → ...module/docs/intersection-coordination.png
diff --git a/...affic_light_module/docs/keep_stopping.svg → ...affic_light_module/docs/keep_stopping.svg b/...affic_light_module/docs/keep_stopping.svg → ...affic_light_module/docs/keep_stopping.svg
diff --git a/...ual_traffic_light_module/docs/restart.svg → ...ual_traffic_light_module/docs/restart.svg b/...ual_traffic_light_module/docs/restart.svg → ...ual_traffic_light_module/docs/restart.svg
diff --git a/..._light_module/docs/restart_prevention.svg → ..._light_module/docs/restart_prevention.svg b/..._light_module/docs/restart_prevention.svg → ..._light_module/docs/restart_prevention.svg
diff --git a/..._virtual_traffic_light_module/package.xml → ..._virtual_traffic_light_module/package.xml b/..._virtual_traffic_light_module/package.xml → ..._virtual_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_virtual_traffic_light_module</name>
+  <name>autoware_behavior_velocity_virtual_traffic_light_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_virtual_traffic_light_module package</description>
+  <description>The autoware_behavior_velocity_virtual_traffic_light_module package</description>
 
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
   <maintainer email="[email protected]">Tomoya Kimura</maintainer>

diff --git a/planning/autoware_behavior_velocity_virtual_traffic_light_module/plugins.xml b/planning/autoware_behavior_velocity_virtual_traffic_light_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_virtual_traffic_light_module">
+  <class type="autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/...irtual_traffic_light_module/src/debug.cpp → ...irtual_traffic_light_module/src/debug.cpp b/...irtual_traffic_light_module/src/debug.cpp → ...irtual_traffic_light_module/src/debug.cpp
@@ -28,7 +28,7 @@ using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::toMsg;
 using namespace std::literals::string_literals;
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -147,4 +147,4 @@ visualization_msgs::msg::MarkerArray VirtualTrafficLightModule::createDebugMarke
 
   return debug_marker_array;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...tual_traffic_light_module/src/manager.cpp → ...tual_traffic_light_module/src/manager.cpp b/...tual_traffic_light_module/src/manager.cpp → ...tual_traffic_light_module/src/manager.cpp
@@ -24,10 +24,11 @@
 #include <unordered_map>
 #include <utility>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using lanelet::autoware::VirtualTrafficLight;
 using tier4_autoware_utils::getOrDeclareParameter;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 
 VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
@@ -76,9 +77,9 @@ VirtualTrafficLightModuleManager::getModuleExpiredFunction(
     return id_set.count(scene_module->getModuleId()) == 0;
   };
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::VirtualTrafficLightModulePlugin,
+  autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin,
   behavior_velocity_planner::PluginInterface)
diff --git a/...tual_traffic_light_module/src/manager.hpp → ...tual_traffic_light_module/src/manager.hpp b/...tual_traffic_light_module/src/manager.hpp → ...tual_traffic_light_module/src/manager.hpp
@@ -27,8 +27,11 @@
 #include <functional>
 #include <memory>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PluginWrapper;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::SceneModuleManagerInterface;
 class VirtualTrafficLightModuleManager : public SceneModuleManagerInterface
 {
 public:
@@ -48,6 +51,6 @@ class VirtualTrafficLightModulePlugin : public PluginWrapper<VirtualTrafficLight
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/...irtual_traffic_light_module/src/scene.cpp → ...irtual_traffic_light_module/src/scene.cpp b/...irtual_traffic_light_module/src/scene.cpp → ...irtual_traffic_light_module/src/scene.cpp
@@ -23,8 +23,13 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlanningBehavior;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::VelocityFactor;
+namespace arc_lane_utils = ::behavior_velocity_planner::arc_lane_utils;
+namespace planning_utils = ::behavior_velocity_planner::planning_utils;
 namespace
 {
 using tier4_autoware_utils::calcDistance2d;
@@ -618,4 +623,4 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine(
   module_data_.stop_head_pose_at_end_line =
     calcHeadPose(stop_pose, planner_data_->vehicle_info_.max_longitudinal_offset_m);
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/...irtual_traffic_light_module/src/scene.hpp → ...irtual_traffic_light_module/src/scene.hpp b/...irtual_traffic_light_module/src/scene.hpp → ...irtual_traffic_light_module/src/scene.hpp
@@ -30,8 +30,12 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PathWithLaneId;
+using ::behavior_velocity_planner::Pose;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 class VirtualTrafficLightModule : public SceneModuleInterface
 {
 public:
@@ -126,5 +130,5 @@ class VirtualTrafficLightModule : public SceneModuleInterface
     tier4_planning_msgs::msg::PathWithLaneId * path,
     tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx);
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 #endif  // SCENE_HPP_
diff --git a/planning/behavior_velocity_virtual_traffic_light_module/plugins.xml b/planning/behavior_velocity_virtual_traffic_light_module/plugins.xml