refactor(map_projection_loader)!: prefix package and namespace with a…

…utoware (#8420)

* add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>

.github/CODEOWNERS

@@ -101,7 +101,7 @@ localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuc
 localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp

launch/tier4_map_launch/launch/map.launch.xml

@@ -59,7 +59,7 @@
       <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
     </node>
 
-    <include file="$(find-pkg-share map_projection_loader)/launch/map_projection_loader.launch.xml">
+    <include file="$(find-pkg-share autoware_map_projection_loader)/launch/map_projection_loader.launch.xml">
       <arg name="param_path" value="$(var map_projection_loader_param_path)"/>
       <arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
       <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>

launch/tier4_map_launch/package.xml

@@ -18,9 +18,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_map_projection_loader</exec_depend>
   <exec_depend>autoware_map_tf_generator</exec_depend>
   <exec_depend>map_loader</exec_depend>
-  <exec_depend>map_projection_loader</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

map/map_projection_loader/CMakeLists.txt → map/autoware_map_projection_loader/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_projection_loader)
+project(autoware_map_projection_loader)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,7 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "MapProjectionLoader"
+  PLUGIN "autoware::map_projection_loader::MapProjectionLoader"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )

map/map_projection_loader/README.md → map/autoware_map_projection_loader/README.md

@@ -1,8 +1,8 @@
-# map_projection_loader
+# autoware_map_projection_loader
 
 ## Feature
 
-`map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating.
+`autoware_map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating.
 This is necessary information especially when you want to convert from global (geoid) to local coordinate or the other way around.
 
 - If `map_projector_info_path` DOES exist, this node loads it and publishes the map projection information accordingly.
@@ -92,4 +92,4 @@ map_origin:
 
 Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`.
 
-{{ json_to_markdown("map/map_projection_loader/schema/map_projection_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_projection_loader/schema/map_projection_loader.schema.json") }}

map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp → map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
-#define MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#ifndef AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#define AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
 
 #include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
@@ -24,6 +24,9 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename);
+}  // namespace autoware::map_projection_loader
 
-#endif  // MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#endif  // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_

map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp → map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
-#define MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#ifndef AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#define AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -22,6 +22,8 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename);
 tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
   const std::string & yaml_filename, const std::string & lanelet2_map_filename);
@@ -35,5 +37,6 @@ class MapProjectionLoader : public rclcpp::Node
   using MapProjectorInfo = map_interface::MapProjectorInfo;
   component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
 };
+}  // namespace autoware::map_projection_loader
 
-#endif  // MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#endif  // AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_

map/map_projection_loader/launch/map_projection_loader.launch.xml → map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml

@@ -1,10 +1,10 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share map_projection_loader)/config/map_projection_loader.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_map_projection_loader)/config/map_projection_loader.param.yaml"/>
 
   <arg name="map_projector_info_path" description="Path to the yaml file"/>
   <arg name="lanelet2_map_path" description="Path to the lanelet2 map file"/>
 
-  <node pkg="map_projection_loader" exec="map_projection_loader_node" output="both">
+  <node pkg="autoware_map_projection_loader" exec="autoware_map_projection_loader_node" output="both">
     <param from="$(var param_path)" allow_substs="true"/>
   </node>
 </launch>

map/map_projection_loader/package.xml → map/autoware_map_projection_loader/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>map_projection_loader</name>
+  <name>autoware_map_projection_loader</name>
   <version>0.1.0</version>
-  <description>map_projection_loader package as a ROS 2 node</description>
+  <description>autoware_map_projection_loader package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>

map/map_projection_loader/src/load_info_from_lanelet2_map.cpp → map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include "tier4_map_msgs/msg/map_projector_info.hpp"
 
@@ -23,6 +23,8 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename)
 {
   lanelet::ErrorMessages errors{};
@@ -58,3 +60,4 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str
   msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
   return msg;
 }
+}  // namespace autoware::map_projection_loader

map/map_projection_loader/src/map_projection_loader.cpp → map/autoware_map_projection_loader/src/map_projection_loader.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/map_projection_loader.hpp"
+#include "autoware/map_projection_loader/map_projection_loader.hpp"
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
@@ -23,6 +23,8 @@
 #include <filesystem>
 #include <fstream>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename)
 {
   YAML::Node data = YAML::LoadFile(filename);
@@ -93,6 +95,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options)
   adaptor.init_pub(publisher_);
   publisher_->publish(msg);
 }
+}  // namespace autoware::map_projection_loader
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_projection_loader::MapProjectionLoader)

map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp → map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include <GeographicLib/MGRS.hpp>
 #include <GeographicLib/UTMUPS.hpp>
@@ -92,7 +92,8 @@ TEST(TestLoadFromLanelet2Map, LoadMGRSGrid)
   save_dummy_mgrs_lanelet2_map(mgrs_coord, output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "MGRS");
@@ -106,7 +107,8 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid)
   save_dummy_local_lanelet2_map(output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "local");
@@ -119,7 +121,8 @@ TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid)
   save_dummy_mgrs_lanelet2_map_with_one_zero_point(output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "MGRS");

map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py → map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py

@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)

map/map_projection_loader/test/test_node_load_local_from_yaml.test.py → map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py

@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)

map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py → map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py

@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)

map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py → map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py

@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)

planning/autoware_static_centerline_generator/package.xml

@@ -19,6 +19,7 @@
   <depend>autoware_geography_utils</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_map_projection_loader</depend>
   <depend>autoware_mission_planner</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_path_optimizer</depend>
@@ -32,7 +33,6 @@
   <depend>global_parameter_loader</depend>
   <depend>interpolation</depend>
   <depend>map_loader</depend>
-  <depend>map_projection_loader</depend>
   <depend>osqp_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp

@@ -14,6 +14,8 @@
 
 #include "static_centerline_generator_node.hpp"
 
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/map_projection_loader.hpp"
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
@@ -25,8 +27,6 @@
 #include "centerline_source/bag_ego_trajectory_based_centerline.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
 #include "map_loader/lanelet2_map_loader_node.hpp"
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
-#include "map_projection_loader/map_projection_loader.hpp"
 #include "type_alias.hpp"
 #include "utils.hpp"
 
@@ -356,8 +356,8 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_
   // load map by the map_loader package
   map_bin_ptr_ = [&]() -> LaneletMapBin::ConstSharedPtr {
     // load map
-    map_projector_info_ =
-      std::make_unique<MapProjectorInfo>(load_info_from_lanelet2_map(lanelet2_input_file_path));
+    map_projector_info_ = std::make_unique<MapProjectorInfo>(
+      autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path));
     const auto map_ptr =
       Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_);
     if (!map_ptr) {