diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index a6e9d336479f5..732c8972ff0f1 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -189,7 +189,7 @@ planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamor planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp -planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp +planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp diff --git a/planning/.pages b/planning/.pages index f6ee9a2d8d38b..1e11d25f1f3ea 100644 --- a/planning/.pages +++ b/planning/.pages @@ -74,7 +74,7 @@ nav: - 'API and Library': - 'Costmap Generator': planning/costmap_generator - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector - - 'Objects of Interest Marker Interface': planning/objects_of_interest_marker_interface + - 'Objects of Interest Marker Interface': planning/autoware_objects_of_interest_marker_interface - 'Route Handler': planning/route_handler - 'RTC Interface': planning/autoware_rtc_interface - 'Additional Tools': diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp index d2ad97d51744a..cff8609d77831 100644 --- a/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp +++ b/planning/autoware_behavior_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp @@ -37,10 +37,10 @@ namespace behavior_path_planner { +using autoware::objects_of_interest_marker_interface::ColorName; +using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; -using objects_of_interest_marker_interface::ColorName; -using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using tier4_planning_msgs::msg::PathWithLaneId; class LaneChangeInterface : public SceneModuleInterface diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp index ebbb795a699b5..898c54b8e348c 100644 --- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp @@ -22,12 +22,12 @@ #include #include +#include #include #include #include #include #include -#include #include #include #include @@ -56,11 +56,11 @@ namespace behavior_path_planner { +using autoware::objects_of_interest_marker_interface::ColorName; +using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using autoware::rtc_interface::RTCInterface; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::SteeringFactor; -using objects_of_interest_marker_interface::ColorName; -using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using steering_factor_interface::SteeringFactorInterface; using tier4_autoware_utils::calcOffsetPose; using tier4_autoware_utils::generateUUID; diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/autoware_behavior_path_planner_common/package.xml index e9b33f3e71d6f..8ffe0fd6ea0c2 100644 --- a/planning/autoware_behavior_path_planner_common/package.xml +++ b/planning/autoware_behavior_path_planner_common/package.xml @@ -45,6 +45,7 @@ autoware_adapi_v1_msgs autoware_freespace_planning_algorithms autoware_lane_departure_checker + autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_planning_msgs autoware_rtc_interface @@ -55,7 +56,6 @@ magic_enum motion_utils object_recognition_utils - objects_of_interest_marker_interface rclcpp route_handler tf2 diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 5a47bed4c712a..f8c79d112acaa 100644 --- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -22,6 +22,7 @@ eigen3_cmake_module autoware_behavior_path_planner_common + autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_rtc_interface autoware_vehicle_info_utils @@ -30,7 +31,6 @@ lanelet2_extension magic_enum motion_utils - objects_of_interest_marker_interface pluginlib rclcpp route_handler diff --git a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp index a97346297c9ac..bc929991199ac 100644 --- a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp @@ -16,11 +16,11 @@ #define AUTOWARE_BEHAVIOR_VELOCITY_PLANNER_COMMON__SCENE_MODULE_INTERFACE_HPP_ #include +#include #include #include #include #include -#include #include #include @@ -48,12 +48,12 @@ namespace autoware::behavior_velocity_planner { +using autoware::objects_of_interest_marker_interface::ColorName; +using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using autoware::rtc_interface::RTCInterface; using builtin_interfaces::msg::Time; using motion_utils::PlanningBehavior; using motion_utils::VelocityFactor; -using objects_of_interest_marker_interface::ColorName; -using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using tier4_autoware_utils::DebugPublisher; using tier4_autoware_utils::getOrDeclareParameter; using tier4_debug_msgs::msg::Float64Stamped; diff --git a/planning/autoware_behavior_velocity_planner_common/package.xml b/planning/autoware_behavior_velocity_planner_common/package.xml index 0e317ceb5db66..2eadf2c26f59b 100644 --- a/planning/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/autoware_behavior_velocity_planner_common/package.xml @@ -21,6 +21,7 @@ autoware_adapi_v1_msgs autoware_map_msgs + autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_planning_msgs autoware_rtc_interface @@ -33,7 +34,6 @@ lanelet2_extension motion_utils nav_msgs - objects_of_interest_marker_interface pcl_conversions rclcpp rclcpp_components diff --git a/planning/objects_of_interest_marker_interface/CMakeLists.txt b/planning/autoware_objects_of_interest_marker_interface/CMakeLists.txt similarity index 81% rename from planning/objects_of_interest_marker_interface/CMakeLists.txt rename to planning/autoware_objects_of_interest_marker_interface/CMakeLists.txt index eec17f8d9218b..da1161c007bae 100644 --- a/planning/objects_of_interest_marker_interface/CMakeLists.txt +++ b/planning/autoware_objects_of_interest_marker_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(objects_of_interest_marker_interface) +project(autoware_objects_of_interest_marker_interface) ### Compile options if(NOT CMAKE_CXX_STANDARD) @@ -12,7 +12,7 @@ endif() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() -ament_auto_add_library(objects_of_interest_marker_interface SHARED +ament_auto_add_library(autoware_objects_of_interest_marker_interface SHARED src/coloring.cpp src/objects_of_interest_marker_interface.cpp src/marker_utils.cpp diff --git a/planning/objects_of_interest_marker_interface/README.md b/planning/autoware_objects_of_interest_marker_interface/README.md similarity index 100% rename from planning/objects_of_interest_marker_interface/README.md rename to planning/autoware_objects_of_interest_marker_interface/README.md diff --git a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/coloring.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/coloring.hpp similarity index 68% rename from planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/coloring.hpp rename to planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/coloring.hpp index 041a6a454d0dd..77e0e5db2f157 100644 --- a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/coloring.hpp +++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/coloring.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ -#define OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ -#include "objects_of_interest_marker_interface/marker_data.hpp" +#ifndef AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ +#define AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ +#include "autoware_objects_of_interest_marker_interface/marker_data.hpp" #include #include -namespace objects_of_interest_marker_interface::coloring +namespace autoware::objects_of_interest_marker_interface::coloring { std_msgs::msg::ColorRGBA getGreen(const float alpha); std_msgs::msg::ColorRGBA getAmber(const float alpha); std_msgs::msg::ColorRGBA getRed(const float alpha); std_msgs::msg::ColorRGBA getGray(const float alpha); -} // namespace objects_of_interest_marker_interface::coloring +} // namespace autoware::objects_of_interest_marker_interface::coloring -#endif // OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ +#endif // AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_ diff --git a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_data.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_data.hpp similarity index 73% rename from planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_data.hpp rename to planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_data.hpp index 6a6bd2c0dcf19..1ce530343172e 100644 --- a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_data.hpp +++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_data.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ -#define OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ +#ifndef AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ +#define AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ #include #include #include -namespace objects_of_interest_marker_interface +namespace autoware::objects_of_interest_marker_interface { struct ObjectMarkerData { @@ -29,6 +29,6 @@ struct ObjectMarkerData }; enum class ColorName { GRAY, GREEN, AMBER, RED }; -} // namespace objects_of_interest_marker_interface +} // namespace autoware::objects_of_interest_marker_interface -#endif // OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ +#endif // AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_DATA_HPP_ diff --git a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_utils.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_utils.hpp similarity index 85% rename from planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_utils.hpp rename to planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_utils.hpp index 5a094e349c31a..5c41e7d33e8b2 100644 --- a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/marker_utils.hpp +++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/marker_utils.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ -#define OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ -#include "objects_of_interest_marker_interface/coloring.hpp" -#include "objects_of_interest_marker_interface/marker_data.hpp" +#ifndef AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ +#define AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ +#include "autoware_objects_of_interest_marker_interface/coloring.hpp" +#include "autoware_objects_of_interest_marker_interface/marker_data.hpp" #include #include @@ -30,7 +30,7 @@ #include -namespace objects_of_interest_marker_interface::marker_utils +namespace autoware::objects_of_interest_marker_interface::marker_utils { /** * @brief Create arrow marker from object marker data @@ -81,6 +81,6 @@ visualization_msgs::msg::Marker createNameTextMarker( visualization_msgs::msg::MarkerArray createTargetMarker( const size_t id, const ObjectMarkerData & data, const std::string & name, const double height_offset, const double arrow_length = 1.0, const double line_width = 0.1); -} // namespace objects_of_interest_marker_interface::marker_utils +} // namespace autoware::objects_of_interest_marker_interface::marker_utils -#endif // OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ +#endif // AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__MARKER_UTILS_HPP_ diff --git a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp similarity index 81% rename from planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp rename to planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp index 7138ddd49d4c7..dfb62198e1607 100644 --- a/planning/objects_of_interest_marker_interface/include/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp +++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware_objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ -#define OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ -#include "objects_of_interest_marker_interface/coloring.hpp" -#include "objects_of_interest_marker_interface/marker_data.hpp" -#include "objects_of_interest_marker_interface/marker_utils.hpp" +#ifndef AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ +#define AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ +#include "autoware_objects_of_interest_marker_interface/coloring.hpp" +#include "autoware_objects_of_interest_marker_interface/marker_data.hpp" +#include "autoware_objects_of_interest_marker_interface/marker_utils.hpp" #include @@ -28,7 +28,7 @@ #include #include -namespace objects_of_interest_marker_interface +namespace autoware::objects_of_interest_marker_interface { class ObjectsOfInterestMarkerInterface { @@ -98,6 +98,6 @@ class ObjectsOfInterestMarkerInterface std::string topic_namespace_ = "/planning/debug/objects_of_interest"; }; -} // namespace objects_of_interest_marker_interface +} // namespace autoware::objects_of_interest_marker_interface -#endif // OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ +#endif // AUTOWARE_OBJECTS_OF_INTEREST_MARKER_INTERFACE__OBJECTS_OF_INTEREST_MARKER_INTERFACE_HPP_ diff --git a/planning/objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml similarity index 85% rename from planning/objects_of_interest_marker_interface/package.xml rename to planning/autoware_objects_of_interest_marker_interface/package.xml index 28d00e2fdcd95..a7701d159e824 100644 --- a/planning/objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,8 +1,8 @@ - objects_of_interest_marker_interface + autoware_objects_of_interest_marker_interface 0.1.0 - The objects_of_interest_marker_interface package + The autoware_objects_of_interest_marker_interface package Fumiya Watanabe Kosuke Takeuchi diff --git a/planning/objects_of_interest_marker_interface/src/coloring.cpp b/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp similarity index 87% rename from planning/objects_of_interest_marker_interface/src/coloring.cpp rename to planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp index 6c566474e4c9e..6bea6b577a61e 100644 --- a/planning/objects_of_interest_marker_interface/src/coloring.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "objects_of_interest_marker_interface/coloring.hpp" +#include "autoware_objects_of_interest_marker_interface/coloring.hpp" namespace { @@ -26,7 +26,7 @@ std_msgs::msg::ColorRGBA convertFromColorCode(const uint64_t code, const float a } } // namespace -namespace objects_of_interest_marker_interface::coloring +namespace autoware::objects_of_interest_marker_interface::coloring { std_msgs::msg::ColorRGBA getGreen(const float alpha) { @@ -51,4 +51,4 @@ std_msgs::msg::ColorRGBA getGray(const float alpha) constexpr uint64_t code = 0xbdbdbd; return convertFromColorCode(code, alpha); } -} // namespace objects_of_interest_marker_interface::coloring +} // namespace autoware::objects_of_interest_marker_interface::coloring diff --git a/planning/objects_of_interest_marker_interface/src/marker_utils.cpp b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp similarity index 94% rename from planning/objects_of_interest_marker_interface/src/marker_utils.cpp rename to planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp index 23f33c0b8115a..8c9478ab97a99 100644 --- a/planning/objects_of_interest_marker_interface/src/marker_utils.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "objects_of_interest_marker_interface/marker_utils.hpp" +#include "autoware_objects_of_interest_marker_interface/marker_utils.hpp" -namespace objects_of_interest_marker_interface::marker_utils +namespace autoware::objects_of_interest_marker_interface::marker_utils { using geometry_msgs::msg::Point; @@ -111,4 +111,4 @@ MarkerArray createTargetMarker( return marker_array; } -} // namespace objects_of_interest_marker_interface::marker_utils +} // namespace autoware::objects_of_interest_marker_interface::marker_utils diff --git a/planning/objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp similarity index 92% rename from planning/objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp rename to planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp index f12731aba5df2..42fea55a46cf2 100644 --- a/planning/objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp" +#include "autoware_objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp" #include #include #include -namespace objects_of_interest_marker_interface +namespace autoware::objects_of_interest_marker_interface { using autoware_perception_msgs::msg::Shape; using geometry_msgs::msg::Pose; @@ -87,4 +87,4 @@ ColorRGBA ObjectsOfInterestMarkerInterface::getColor( } } -} // namespace objects_of_interest_marker_interface +} // namespace autoware::objects_of_interest_marker_interface