refactor(pointcloud_preprocessor): prefix package and namespace with autoware

.github/CODEOWNERS

@@ -55,7 +55,7 @@
 control/autoware_pid_longitudinal_controller/** [email protected] [email protected] [email protected]
 control/autoware_pure_pursuit/** [email protected] [email protected]
 control/autoware_shift_decider/** [email protected] [email protected]
 control/autoware_smart_mpc_trajectory_follower/** [email protected] [email protected] [email protected] [email protected]
 control/autoware_trajectory_follower_base/** [email protected] [email protected]
 control/autoware_trajectory_follower_node/** [email protected] [email protected]
 control/autoware_vehicle_cmd_gate/** [email protected] [email protected]
@@ -205,7 +205,7 @@
 sensing/image_transport_decompressor/** [email protected] [email protected]
 sensing/imu_corrector/** [email protected] [email protected] [email protected]
 sensing/livox/autoware_livox_tag_filter/** [email protected] [email protected]
-sensing/pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+sensing/autoware_pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/radar_scan_to_pointcloud2/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_static_pointcloud_filter/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_threshold_filter/** [email protected] [email protected] [email protected] [email protected]

control/autoware_autonomous_emergency_braking/package.xml

@@ -18,6 +18,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_pointcloud_preprocessor</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
@@ -27,7 +28,6 @@
   <depend>nav_msgs</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
-  <depend>pointcloud_preprocessor</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>

launch/tier4_localization_launch/launch/util/util.launch.xml

@@ -9,21 +9,21 @@
   <arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
 
   <load_composable_node target="$(var localization_pointcloud_container_name)">
-    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
+    <composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
       <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
       <remap from="input" to="$(var input_pointcloud)"/>
       <remap from="output" to="measurement_range/pointcloud"/>
       <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
     </composable_node>
 
-    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
+    <composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
       <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path)"/>
       <remap from="input" to="measurement_range/pointcloud"/>
       <remap from="output" to="voxel_grid_downsample/pointcloud"/>
       <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
     </composable_node>
 
-    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
+    <composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
       <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path)"/>
       <remap from="input" to="voxel_grid_downsample/pointcloud"/>
       <remap from="output" to="$(var output/pointcloud)"/>

launch/tier4_localization_launch/package.xml

@@ -19,14 +19,14 @@
 
   <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>geo_pose_projector</exec_depend>
   <exec_depend>gyro_odometer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pose_estimator_arbiter</exec_depend>
   <exec_depend>pose_initializer</exec_depend>
   <exec_depend>pose_instability_detector</exec_depend>

launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py

@@ -56,8 +56,8 @@ def create_no_compare_map_pipeline(self):
         components = []
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
                 name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),
@@ -84,8 +84,8 @@ def create_compare_map_pipeline(self):
         )
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
                 name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -91,8 +91,8 @@ def create_additional_pipeline(self, lidar_name):
         components = []
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
                 name=f"{lidar_name}_crop_box_filter",
                 remappings=[
                     ("input", f"/sensing/lidar/{lidar_name}/pointcloud"),
@@ -137,8 +137,8 @@ def create_ransac_pipeline(self):
         components = []
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
                 name="concatenate_data",
                 namespace="plane_fitting",
                 remappings=[
@@ -161,8 +161,8 @@ def create_ransac_pipeline(self):
 
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
                 name="short_height_obstacle_detection_area_filter",
                 namespace="plane_fitting",
                 remappings=[
@@ -186,8 +186,8 @@ def create_ransac_pipeline(self):
 
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::Lanelet2MapFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::Lanelet2MapFilterComponent",
                 name="vector_map_filter",
                 namespace="plane_fitting",
                 remappings=[
@@ -243,8 +243,8 @@ def create_common_pipeline(self, input_topic, output_topic):
         components = []
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
                 name="crop_box_filter",
                 remappings=[
                     ("input", input_topic),
@@ -416,8 +416,8 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
 
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
                 name="voxel_grid_filter",
                 namespace="elevation_map",
                 remappings=[
@@ -441,8 +441,8 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
 
         components.append(
             ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
                 name="voxel_grid_outlier_filter",
                 namespace="elevation_map",
                 remappings=[
@@ -468,8 +468,8 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
     @staticmethod
     def get_additional_lidars_concatenated_component(input_topics, output_topic):
         return ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
             name="concatenate_data",
             remappings=[
                 ("~/input/odom", "/localization/kinematic_state"),
@@ -488,8 +488,8 @@ def get_additional_lidars_concatenated_component(input_topics, output_topic):
     @staticmethod
     def get_single_frame_obstacle_segmentation_concatenated_component(input_topics, output_topic):
         return ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
             name="concatenate_no_ground_data",
             remappings=[
                 ("~/input/odom", "/localization/kinematic_state"),

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -144,7 +144,12 @@
     <group if="$(var downsample_perception_common_pointcloud)">
       <push-ros-namespace namespace="common"/>
       <load_composable_node target="$(var pointcloud_container_name)">
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="pointcloud_downsample_node" namespace="">
+        <composable_node
+          pkg="autoware_pointcloud_preprocessor"
+          plugin="autoware::pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent"
+          name="pointcloud_downsample_node"
+          namespace=""
+        >
           <remap from="input" to="$(var input/pointcloud)"/>
           <remap from="output" to="$(var downsampled_pointcloud)"/>
           <param name="voxel_size_x" value="$(var common_downsample_voxel_size_x)"/>

launch/tier4_perception_launch/package.xml

@@ -17,6 +17,7 @@
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
   <exec_depend>autoware_object_velocity_splitter</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
   <exec_depend>autoware_radar_fusion_to_detected_object</exec_depend>
   <exec_depend>autoware_radar_object_clustering</exec_depend>
@@ -35,7 +36,6 @@
   <exec_depend>multi_object_tracker</exec_depend>
   <exec_depend>object_merger</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
   <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
   <exec_depend>raindrop_cluster_filter</exec_depend>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -277,7 +277,7 @@
         <extra_arg name="use_intra_process_comms" value="false"/>
       </composable_node>
 
-      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+      <composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
         <!-- topic remap -->
         <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
         <remap from="input" to="compare_map_filtered/pointcloud"/>

perception/compare_map_segmentation/CMakeLists.txt

@@ -31,7 +31,7 @@ add_library(${PROJECT_NAME} SHARED
 )
 
 target_link_libraries(${PROJECT_NAME}
-  pointcloud_preprocessor::pointcloud_preprocessor_filter_base
+  autoware_pointcloud_preprocessor::pointcloud_preprocessor_filter_base
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}

perception/compare_map_segmentation/package.xml

@@ -18,12 +18,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_pointcloud_preprocessor</depend>
   <depend>autoware_universe_utils</depend>
   <depend>grid_map_pcl</depend>
   <depend>grid_map_ros</depend>
   <depend>nav_msgs</depend>
   <depend>pcl_conversions</depend>
-  <depend>pointcloud_preprocessor</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>

perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp

@@ -15,7 +15,7 @@
 #ifndef COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
 #define COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
 
-#include "pointcloud_preprocessor/filter.hpp"
+#include "autoware_pointcloud_preprocessor/filter.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
@@ -31,7 +31,7 @@
 #include <vector>
 namespace autoware::compare_map_segmentation
 {
-class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filter
+class CompareElevationMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
   void filter(

perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp

@@ -16,7 +16,7 @@
 #define DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
 #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
-#include "pointcloud_preprocessor/filter.hpp"
+#include "autoware_pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/common/point_tests.h>  // for pcl::isFinite
 #include <pcl/filters/voxel_grid.h>
@@ -100,7 +100,7 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
   }
 };
 
-class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter
+class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
   virtual void filter(

perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp

@@ -16,7 +16,7 @@
 #define VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 
 #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
-#include "pointcloud_preprocessor/filter.hpp"
+#include "autoware_pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -56,7 +56,8 @@ class VoxelBasedApproximateDynamicMapLoader : public VoxelGridDynamicMapLoader
   bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;
 };
 
-class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preprocessor::Filter
+class VoxelBasedApproximateCompareMapFilterComponent
+: public autoware::pointcloud_preprocessor::Filter
 {
 protected:
   virtual void filter(

perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp

@@ -26,7 +26,7 @@
 
 namespace autoware::compare_map_segmentation
 {
-using pointcloud_preprocessor::get_param;
+using autoware::pointcloud_preprocessor::get_param;
 
 VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent(
   const rclcpp::NodeOptions & options)

perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp

@@ -16,7 +16,7 @@
 #define VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
 #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
-#include "pointcloud_preprocessor/filter.hpp"
+#include "autoware_pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -26,7 +26,7 @@
 
 namespace autoware::compare_map_segmentation
 {
-class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter
+class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
   virtual void filter(

perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp

@@ -16,7 +16,7 @@
 #define VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 
 #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
-#include "pointcloud_preprocessor/filter.hpp"
+#include "autoware_pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -123,7 +123,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
   }
 };
 
-class VoxelDistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter
+class VoxelDistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
   virtual void filter(

perception/euclidean_cluster/launch/euclidean_cluster.launch.py

@@ -36,9 +36,9 @@ def load_composable_node_param(param_path):
     pkg = "euclidean_cluster"
 
     low_height_cropbox_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
+        package="autoware_pointcloud_preprocessor",
         namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),

perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py

@@ -35,9 +35,9 @@ def load_composable_node_param(param_path):
     pkg = "euclidean_cluster"
 
     low_height_cropbox_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
+        package="autoware_pointcloud_preprocessor",
         namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),

perception/ground_segmentation/README.md

@@ -44,7 +44,7 @@ Detail description of each ground segmentation algorithm is in the following lin
 
 ## Assumptions / Known limits
 
-`pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9).
+`autoware::pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9).
 
 ## References/External links
 

perception/ground_segmentation/docs/ransac-ground-filter.md

@@ -10,13 +10,13 @@ Apply the input points to the plane, and set the points at a certain distance fr
 
 ## Inputs / Outputs
 
-This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
+This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
 
 ## Parameters
 
 ### Node Parameters
 
-This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
+This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
 
 #### Core Parameters