Feature/split rviz packages

mock/cpp_mock_scenarios/launch/mock_test.launch.py

@@ -151,9 +151,9 @@ def generate_launch_description():
                 arguments=[("__log_level:=warn")],
             ),
             Node(
-                package="openscenario_visualization",
-                executable="openscenario_visualization_node",
-                name="openscenario_visualization_node",
+                package="traffic_simulator",
+                executable="visualization_node",
+                name="visualizer",
                 output="screen",
             ),
             Node(

openscenario/openscenario_visualization/CMakeLists.txt → rviz_plugins/openscenario_visualization/CMakeLists.txt

@@ -35,15 +35,6 @@ include_directories(include
   SYSTEM
   ${OGRE_INCLUDE_DIRS})
 
-ament_auto_add_library(openscenario_visualization_component SHARED
-  src/openscenario_visualization_component.cpp
-)
-
-ament_auto_add_executable(openscenario_visualization_node
-  src/openscenario_visualization_node.cpp
-)
-target_link_libraries(openscenario_visualization_node openscenario_visualization_component)
-
 add_definitions(-DQT_NO_KEYWORDS)
 
 qt5_wrap_ui(UIC_FILES src/ui/context_panel_plugin.ui)
@@ -63,10 +54,6 @@ target_include_directories(openscenario_visualization_rviz_plugin PRIVATE "${OGR
 install(DIRECTORY icons DESTINATION share/openscenario_visualization)
 install(DIRECTORY include/ DESTINATION include)
 
-ament_export_libraries(openscenario_visualization_component)
-
-rclcpp_components_register_nodes(openscenario_visualization_component "openscenario_visualization::OpenscenarioVisualizationComponent")
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

simulation/traffic_simulator/CMakeLists.txt

@@ -58,6 +58,19 @@ ament_auto_add_library(traffic_simulator SHARED
   src/traffic_lights/traffic_light_publisher.cpp
 )
 
+ament_auto_add_library(visualization_component SHARED
+  src/visualization/visualization_component.cpp
+)
+
+ament_auto_add_executable(visualization_node
+  src/visualization/visualization_node.cpp
+)
+target_link_libraries(visualization_node visualization_component)
+
+ament_export_libraries(visualization_component)
+
+rclcpp_components_register_nodes(visualization_component "traffic_simulator::VisualizationComponent")
+
 target_link_libraries(traffic_simulator
   tinyxml2
   pugixml

simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

@@ -286,7 +286,7 @@ class API
     const lane_change::TrajectoryShape trajectory_shape,
     const lane_change::Constraint & constraint);
 
-// clang-format off
+  // clang-format off
 #define FORWARD_TO_ENTITY_MANAGER(NAME)                                    \
   /*!                                                                      \
    @brief Forward to arguments to the EntityManager::NAME function.        \

simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp

@@ -61,7 +61,7 @@ class EntityBase
 
   virtual void cancelRequest();
 
-// clang-format off
+  // clang-format off
 #define DEFINE_GETTER(NAME, TYPE, RETURN_VARIABLE)            \
   /**                                                         \
    @brief Get NAME of the entity.                             \
@@ -84,7 +84,7 @@ class EntityBase
   // clang-format on
 #undef DEFINE_GETTER
 
-// clang-format off
+  // clang-format off
 #define DEFINE_CHECK_FUNCTION(FUNCTION_NAME, BOOL_VARIABLE)            \
   /**                                                                  \
    @note This function was defined by DEFINE_CHECK_FUNCTION function.  \

simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp

@@ -243,7 +243,7 @@ class EntityManager
     }
   }
 
-// clang-format off
+  // clang-format off
 #define FORWARD_TO_HDMAP_UTILS(NAME)                                  \
   /*!                                                                 \
    @brief Forward to arguments to the HDMapUtils::NAME function.      \
@@ -264,7 +264,7 @@ class EntityManager
 
 #undef FORWARD_TO_HDMAP_UTILS
 
-// clang-format off
+  // clang-format off
 #define FORWARD_TO_ENTITY(IDENTIFIER, ...)                                       \
   /*!                                                                            \
    @brief Forward to arguments to the EntityBase::IDENTIFIER function.           \

openscenario/openscenario_visualization/include/openscenario_visualization/openscenario_visualization_component.hpp → simulation/traffic_simulator/include/traffic_simulator/visualization/visualization_component.hpp

@@ -16,8 +16,8 @@
  * @brief definition of visualizer component
  */
 
-#ifndef OPENSCENARIO_VISUALIZATION__OPENSCENARIO_VISUALIZATION_COMPONENT_HPP_
-#define OPENSCENARIO_VISUALIZATION__OPENSCENARIO_VISUALIZATION_COMPONENT_HPP_
+#ifndef TRAFFIC_SIMULATOR__VISUALIZATION__VISUALIZATION_COMPONENT_HPP_
+#define TRAFFIC_SIMULATOR__VISUALIZATION__VISUALIZATION_COMPONENT_HPP_
 
 #if __cplusplus
 extern "C" {
@@ -27,38 +27,33 @@ extern "C" {
 // demos/composition/include/composition/visibility_control.h at https://github.com/ros2/demos
 #if defined _WIN32 || defined __CYGWIN__
 #ifdef __GNUC__
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_EXPORT \
-  __attribute__((dllexport))
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_IMPORT \
-  __attribute__((dllimport))
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_EXPORT __attribute__((dllexport))
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_IMPORT __attribute__((dllimport))
 #else
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_EXPORT __declspec(dllexport)
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_IMPORT __declspec(dllimport)
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_EXPORT __declspec(dllexport)
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_IMPORT __declspec(dllimport)
 #endif
-#ifdef OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_BUILDING_DLL
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC \
-  OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_EXPORT
+#ifdef TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_BUILDING_DLL
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC \
+  TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_EXPORT
 #else
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC \
-  OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_IMPORT
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC \
+  TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_IMPORT
 #endif
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC_TYPE \
-  OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_LOCAL
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC_TYPE \
+  TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_LOCAL
 #else
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_EXPORT \
-  __attribute__((visibility("default")))
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_IMPORT
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_EXPORT __attribute__((visibility("default")))
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_IMPORT
 #if __GNUC__ >= 4
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC \
-  __attribute__((visibility("default")))
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_LOCAL \
-  __attribute__((visibility("hidden")))
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC __attribute__((visibility("default")))
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_LOCAL __attribute__((visibility("hidden")))
 #else
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_LOCAL
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_LOCAL
 #endif
-#define OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC_TYPE
+#define TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC_TYPE
 #endif
 
 #if __cplusplus
@@ -72,16 +67,16 @@ extern "C" {
 #include <unordered_map>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-namespace openscenario_visualization
+namespace traffic_simulator
 {
 /**
  * @brief ROS 2 component for visualizing simulation result.
  */
-class OpenscenarioVisualizationComponent : public rclcpp::Node
+class VisualizationComponent : public rclcpp::Node
 {
 public:
-  OPENSCENARIO_VISUALIZATION_OPENSCENARIO_VISUALIZATION_COMPONENT_PUBLIC
-  explicit OpenscenarioVisualizationComponent(const rclcpp::NodeOptions &);
+  TRAFFIC_SIMULATOR_VISUALIZATION_COMPONENT_PUBLIC
+  explicit VisualizationComponent(const rclcpp::NodeOptions &);
 
 private:
   /**
@@ -128,6 +123,6 @@ class OpenscenarioVisualizationComponent : public rclcpp::Node
    */
   std::unordered_map<std::string, visualization_msgs::msg::MarkerArray> markers_;
 };
-}  // namespace openscenario_visualization
+}  // namespace traffic_simulator
 
-#endif  // OPENSCENARIO_VISUALIZATION__OPENSCENARIO_VISUALIZATION_COMPONENT_HPP_
+#endif  // TRAFFIC_SIMULATOR__VISUALIZATION__VISUALIZATION_COMPONENT_HPP_

openscenario/openscenario_visualization/src/openscenario_visualization_component.cpp → simulation/traffic_simulator/src/visualization/visualization_component.cpp

@@ -48,26 +48,25 @@
 #include <cmath>
 #include <color_names/color_names.hpp>
 #include <geometry/spline/catmull_rom_spline.hpp>
-#include <openscenario_visualization/openscenario_visualization_component.hpp>
+#include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string>
+#include <traffic_simulator/visualization/visualization_component.hpp>
 #include <vector>
 
-namespace openscenario_visualization
+namespace traffic_simulator
 {
-OpenscenarioVisualizationComponent::OpenscenarioVisualizationComponent(
-  const rclcpp::NodeOptions & options)
-: Node("openscenario_visualization", options)
+VisualizationComponent::VisualizationComponent(const rclcpp::NodeOptions & options)
+: Node("visualization", options)
 {
   marker_pub_ = create_publisher<visualization_msgs::msg::MarkerArray>("entity/marker", 1);
   entity_status_sub_ =
     this->create_subscription<traffic_simulator_msgs::msg::EntityStatusWithTrajectoryArray>(
       "entity/status", 1,
-      std::bind(
-        &OpenscenarioVisualizationComponent::entityStatusCallback, this, std::placeholders::_1));
+      std::bind(&VisualizationComponent::entityStatusCallback, this, std::placeholders::_1));
 }
 
-void OpenscenarioVisualizationComponent::entityStatusCallback(
+void VisualizationComponent::entityStatusCallback(
   const traffic_simulator_msgs::msg::EntityStatusWithTrajectoryArray::ConstSharedPtr msg)
 {
   visualization_msgs::msg::MarkerArray current_marker;
@@ -100,7 +99,7 @@ void OpenscenarioVisualizationComponent::entityStatusCallback(
   marker_pub_->publish(current_marker);
 }
 
-const visualization_msgs::msg::MarkerArray OpenscenarioVisualizationComponent::generateDeleteMarker(
+const visualization_msgs::msg::MarkerArray VisualizationComponent::generateDeleteMarker(
   std::string ns)
 {
   auto ret = visualization_msgs::msg::MarkerArray();
@@ -117,7 +116,7 @@ const visualization_msgs::msg::MarkerArray OpenscenarioVisualizationComponent::g
   return ret;
 }
 
-const visualization_msgs::msg::MarkerArray OpenscenarioVisualizationComponent::generateMarker(
+const visualization_msgs::msg::MarkerArray VisualizationComponent::generateMarker(
   const traffic_simulator_msgs::msg::EntityStatus & status,
   const std::vector<geometry_msgs::msg::Pose> & goal_pose,
   const traffic_simulator_msgs::msg::WaypointsArray & waypoints,
@@ -449,15 +448,14 @@ const visualization_msgs::msg::MarkerArray OpenscenarioVisualizationComponent::g
   return ret;
 }
 
-const visualization_msgs::msg::MarkerArray
-OpenscenarioVisualizationComponent::generateDeleteMarker() const
+const visualization_msgs::msg::MarkerArray VisualizationComponent::generateDeleteMarker() const
 {
   visualization_msgs::msg::MarkerArray ret;
   visualization_msgs::msg::Marker marker;
   marker.action = marker.DELETEALL;
   ret.markers.emplace_back(marker);
   return ret;
 }
-}  // namespace openscenario_visualization
+}  // namespace traffic_simulator
 
-RCLCPP_COMPONENTS_REGISTER_NODE(openscenario_visualization::OpenscenarioVisualizationComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(traffic_simulator::VisualizationComponent)

openscenario/openscenario_visualization/src/openscenario_visualization_node.cpp → simulation/traffic_simulator/src/visualization/visualization_node.cpp

@@ -42,15 +42,14 @@
  */
 
 #include <memory>
-#include <openscenario_visualization/openscenario_visualization_component.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <traffic_simulator/visualization/visualization_component.hpp>
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions options;
-  auto component =
-    std::make_shared<openscenario_visualization::OpenscenarioVisualizationComponent>(options);
+  auto component = std::make_shared<traffic_simulator::VisualizationComponent>(options);
   rclcpp::spin(component->get_node_base_interface());
   rclcpp::shutdown();
   return 0;

test_runner/random_test_runner/launch/random_test.launch.py

@@ -218,10 +218,10 @@ def launch_setup(self, context, *args, **kwargs):
             scenario_node,
             RegisterEventHandler(event_handler=shutdown_handler),
             Node(
-                package="openscenario_visualization",
-                executable="openscenario_visualization_node",
+                package="traffic_simulator",
+                executable="visualization_node",
                 namespace="simulation",
-                name="openscenario_visualizer",
+                name="visualizer",
                 output="screen",
             ),
         ]

test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py

@@ -203,10 +203,10 @@ def description():
             on_exit=ShutdownOnce(),
         ),
         Node(
-            package="openscenario_visualization",
-            executable="openscenario_visualization_node",
+            package="traffic_simulator",
+            executable="visualization_node",
             namespace="simulation",
-            name="openscenario_visualizer",
+            name="visualizer",
             output="screen",
         ),
         Node(