chore(autoware_imu_corrector): refactored the imu corrector into the …

…autoware namespace (autowarefoundation#8222) * chore: refactored the imu corrector into the autoware namespace Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reverted to non-exported includes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Yamato Ando <[email protected]>
ktro2828 · Sep 18, 2024 · 4be4837 · 4be4837
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commit 4be4837
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Showing 16 changed files with 36 additions and 37 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -200,6 +200,7 @@ planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.
 planning/sampling_based_planner/autoware_path_sampler/** [email protected]
 planning/sampling_based_planner/autoware_sampler_common/** [email protected]
 sensing/autoware_image_diagnostics/** [email protected] [email protected]
+sensing/autoware_imu_corrector/** [email protected] [email protected]
 sensing/autoware_image_transport_decompressor/** [email protected] [email protected]
 sensing/autoware_pcl_extensions/** [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]

diff --git a/sensing/imu_corrector/CMakeLists.txt → ...ing/autoware_imu_corrector/CMakeLists.txt b/sensing/imu_corrector/CMakeLists.txt → ...ing/autoware_imu_corrector/CMakeLists.txt
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.14)
-project(imu_corrector)
+project(autoware_imu_corrector)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(${PROJECT_NAME} SHARED
+ament_auto_add_library(imu_corrector SHARED
   src/imu_corrector_core.cpp
 )
 
@@ -13,14 +13,14 @@ ament_auto_add_library(gyro_bias_estimator SHARED
   src/gyro_bias_estimation_module.cpp
 )
 
-rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "imu_corrector::ImuCorrector"
-  EXECUTABLE ${PROJECT_NAME}_node
+rclcpp_components_register_node(imu_corrector
+  PLUGIN "autoware::imu_corrector::ImuCorrector"
+  EXECUTABLE imu_corrector_node
   EXECUTOR SingleThreadedExecutor
 )
 
 rclcpp_components_register_node(gyro_bias_estimator
-  PLUGIN "imu_corrector::GyroBiasEstimator"
+  PLUGIN "autoware::imu_corrector::GyroBiasEstimator"
   EXECUTABLE gyro_bias_estimator_node
   EXECUTOR SingleThreadedExecutor
 )

diff --git a/sensing/imu_corrector/README.md → sensing/autoware_imu_corrector/README.md b/sensing/imu_corrector/README.md → sensing/autoware_imu_corrector/README.md
@@ -1,4 +1,4 @@
-# imu_corrector
+# autoware_imu_corrector
 
 ## imu_corrector
 

diff --git a/...tor/config/gyro_bias_estimator.param.yaml → ...tor/config/gyro_bias_estimator.param.yaml b/...tor/config/gyro_bias_estimator.param.yaml → ...tor/config/gyro_bias_estimator.param.yaml
diff --git a/...corrector/config/imu_corrector.param.yaml → ...corrector/config/imu_corrector.param.yaml b/...corrector/config/imu_corrector.param.yaml → ...corrector/config/imu_corrector.param.yaml
diff --git a/...tor/launch/gyro_bias_estimator.launch.xml → ...tor/launch/gyro_bias_estimator.launch.xml b/...tor/launch/gyro_bias_estimator.launch.xml → ...tor/launch/gyro_bias_estimator.launch.xml
@@ -3,10 +3,10 @@
   <arg name="input_imu_raw" default="imu_raw"/>
   <arg name="input_odom" default="odom"/>
   <arg name="output_gyro_bias" default="gyro_bias"/>
-  <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share imu_corrector)/config/gyro_bias_estimator.param.yaml"/>
-  <arg name="imu_corrector_param_file" default="$(find-pkg-share imu_corrector)/config/imu_corrector.param.yaml"/>
+  <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml"/>
+  <arg name="imu_corrector_param_file" default="$(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml"/>
 
-  <node pkg="imu_corrector" exec="gyro_bias_estimator_node" output="both">
+  <node pkg="autoware_imu_corrector" exec="gyro_bias_estimator_node" output="both">
     <remap from="~/input/imu_raw" to="$(var input_imu_raw)"/>
     <remap from="~/input/odom" to="$(var input_odom)"/>
     <remap from="~/output/gyro_bias" to="$(var output_gyro_bias)"/>

diff --git a/...corrector/launch/imu_corrector.launch.xml → ...corrector/launch/imu_corrector.launch.xml b/...corrector/launch/imu_corrector.launch.xml → ...corrector/launch/imu_corrector.launch.xml
@@ -2,9 +2,9 @@
 <launch>
   <arg name="input_topic" default="imu_raw"/>
   <arg name="output_topic" default="imu_data"/>
-  <arg name="param_file" default="$(find-pkg-share imu_corrector)/config/imu_corrector.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml"/>
 
-  <node pkg="imu_corrector" exec="imu_corrector_node" output="both">
+  <node pkg="autoware_imu_corrector" exec="imu_corrector_node" output="both">
     <remap from="input" to="$(var input_topic)"/>
     <remap from="output" to="$(var output_topic)"/>
     <param from="$(var param_file)"/>

diff --git a/sensing/imu_corrector/package.xml → sensing/autoware_imu_corrector/package.xml b/sensing/imu_corrector/package.xml → sensing/autoware_imu_corrector/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>imu_corrector</name>
+  <name>autoware_imu_corrector</name>
   <version>1.0.0</version>
-  <description>The ROS 2 imu_corrector package</description>
+  <description>The ROS 2 autoware_imu_corrector package</description>
   <maintainer email="[email protected]">Yamato Ando</maintainer>
   <maintainer email="[email protected]">Taiki Yamada</maintainer>
   <license>Apache License 2.0</license>

diff --git a/...g/imu_corrector/schema/imu_corrector.json → ...e_imu_corrector/schema/imu_corrector.json b/...g/imu_corrector/schema/imu_corrector.json → ...e_imu_corrector/schema/imu_corrector.json
diff --git a/...ector/src/gyro_bias_estimation_module.cpp → ...ector/src/gyro_bias_estimation_module.cpp b/...ector/src/gyro_bias_estimation_module.cpp → ...ector/src/gyro_bias_estimation_module.cpp
@@ -14,11 +14,10 @@
 
 #include "gyro_bias_estimation_module.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
-
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 
 /**
@@ -116,4 +115,4 @@ geometry_msgs::msg::Vector3 GyroBiasEstimationModule::get_bias_base_link() const
   return gyro_bias_base;
 }
 
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
diff --git a/...ector/src/gyro_bias_estimation_module.hpp → ...ector/src/gyro_bias_estimation_module.hpp b/...ector/src/gyro_bias_estimation_module.hpp → ...ector/src/gyro_bias_estimation_module.hpp
@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 class GyroBiasEstimationModule
 {
@@ -36,6 +36,6 @@ class GyroBiasEstimationModule
 private:
   std::pair<geometry_msgs::msg::Vector3, geometry_msgs::msg::Vector3> gyro_bias_pair_;
 };
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
 
 #endif  // GYRO_BIAS_ESTIMATION_MODULE_HPP_
diff --git a/...imu_corrector/src/gyro_bias_estimator.cpp → ...imu_corrector/src/gyro_bias_estimator.cpp b/...imu_corrector/src/gyro_bias_estimator.cpp → ...imu_corrector/src/gyro_bias_estimator.cpp
@@ -14,14 +14,14 @@
 
 #include "gyro_bias_estimator.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <utility>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options)
 : rclcpp::Node("gyro_bias_validator", options),
@@ -243,7 +243,7 @@ void GyroBiasEstimator::update_diagnostics(diagnostic_updater::DiagnosticStatusW
   stat.add("gyro_bias_threshold", f(gyro_bias_threshold_));
 }
 
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::GyroBiasEstimator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::GyroBiasEstimator)
diff --git a/...imu_corrector/src/gyro_bias_estimator.hpp → ...imu_corrector/src/gyro_bias_estimator.hpp b/...imu_corrector/src/gyro_bias_estimator.hpp → ...imu_corrector/src/gyro_bias_estimator.hpp
@@ -14,9 +14,9 @@
 #ifndef GYRO_BIAS_ESTIMATOR_HPP_
 #define GYRO_BIAS_ESTIMATOR_HPP_
 
-#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "gyro_bias_estimation_module.hpp"
 
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -30,7 +30,7 @@
 #include <string>
 #include <vector>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 class GyroBiasEstimator : public rclcpp::Node
 {
@@ -97,6 +97,6 @@ class GyroBiasEstimator : public rclcpp::Node
 
   DiagnosticsInfo diagnostics_info_;
 };
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
 
 #endif  // GYRO_BIAS_ESTIMATOR_HPP_
diff --git a/.../imu_corrector/src/imu_corrector_core.cpp → ..._imu_corrector/src/imu_corrector_core.cpp b/.../imu_corrector/src/imu_corrector_core.cpp → ..._imu_corrector/src/imu_corrector_core.cpp
@@ -51,7 +51,7 @@ geometry_msgs::msg::Vector3 transform_vector3(
   return vec_stamped_transformed.vector;
 }
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & options)
 : rclcpp::Node("imu_corrector", options),
@@ -124,7 +124,7 @@ void ImuCorrector::callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_
   imu_pub_->publish(imu_msg_base_link);
 }
 
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::ImuCorrector)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::ImuCorrector)
diff --git a/.../imu_corrector/src/imu_corrector_core.hpp → ..._imu_corrector/src/imu_corrector_core.hpp b/.../imu_corrector/src/imu_corrector_core.hpp → ..._imu_corrector/src/imu_corrector_core.hpp
@@ -14,9 +14,8 @@
 #ifndef IMU_CORRECTOR_CORE_HPP_
 #define IMU_CORRECTOR_CORE_HPP_
 
-#include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "autoware/universe_utils/ros/transform_listener.hpp"
-
+#include <autoware/universe_utils/ros/msg_covariance.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <sensor_msgs/msg/imu.hpp>
@@ -27,7 +26,7 @@
 #include <memory>
 #include <string>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 class ImuCorrector : public rclcpp::Node
 {
@@ -57,6 +56,6 @@ class ImuCorrector : public rclcpp::Node
 
   std::string output_frame_;
 };
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector
 
 #endif  // IMU_CORRECTOR_CORE_HPP_
diff --git a/...test/test_gyro_bias_estimation_module.cpp → ...test/test_gyro_bias_estimation_module.cpp b/...test/test_gyro_bias_estimation_module.cpp → ...test/test_gyro_bias_estimation_module.cpp
@@ -18,7 +18,7 @@
 
 #include <gtest/gtest.h>
 
-namespace imu_corrector
+namespace autoware::imu_corrector
 {
 class GyroBiasEstimationModuleTest : public ::testing::Test
 {
@@ -88,4 +88,4 @@ TEST_F(GyroBiasEstimationModuleTest, GetInsufficientDataExceptionWhenVehicleMovi
     ASSERT_THROW(module.update_bias(pose_list, gyro_list), std::runtime_error);
   }
 }
-}  // namespace imu_corrector
+}  // namespace autoware::imu_corrector