refactor(behavior_velocity_planner_common)!: prefix package and names…

…pace with autoware (#7314) * refactor(behavior_velocity_planner_common): add autoware prefix Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(behavior_velocity_planner_common): fix run_out module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(behavior_velocity_planner_common): remove unnecessary using Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Jul 22, 2024 · ccf324e · ccf324e
1 parent c60e87e
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -178,7 +178,8 @@ planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai
 planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -101,7 +101,7 @@
   <arg name="behavior_velocity_planner_launch_modules" default="["/>
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
     if="$(var launch_crosswalk_module)"
   />
   <let
@@ -111,27 +111,27 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
     if="$(var launch_traffic_light_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
     if="$(var launch_intersection_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
     if="$(var launch_merge_from_private_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
     if="$(var launch_blind_spot_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
     if="$(var launch_detection_area_module)"
   />
   <let
@@ -141,17 +141,17 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
     if="$(var launch_no_stopping_area_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
     if="$(var launch_stop_line_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
     if="$(var launch_occlusion_spot_module)"
   />
   <let
@@ -161,22 +161,22 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
     if="$(var launch_speed_bump_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
     if="$(var launch_out_of_lane_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
     if="$(var launch_no_drivable_lane_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
     if="$(var launch_dynamic_obstacle_stop_module)"
   />
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

diff --git a/planning/autoware_behavior_velocity_intersection_module/package.xml b/planning/autoware_behavior_velocity_intersection_module/package.xml
@@ -18,9 +18,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>behavior_velocity_planner_common</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>

diff --git a/planning/autoware_behavior_velocity_intersection_module/src/debug.cpp b/planning/autoware_behavior_velocity_intersection_module/src/debug.cpp
@@ -15,8 +15,8 @@
 #include "scene_intersection.hpp"
 #include "scene_merge_from_private_road.hpp"
 
-#include <behavior_velocity_planner_common/utilization/debug.hpp>
-#include <behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware_behavior_velocity_planner_common/utilization/debug.hpp>
+#include <autoware_behavior_velocity_planner_common/utilization/util.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
@@ -45,7 +45,7 @@ visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray(
   visualization_msgs::msg::MarkerArray msg;
 
   int32_t i = 0;
-  int32_t uid = behavior_velocity_planner::planning_utils::bitShift(lane_id);
+  int32_t uid = autoware::behavior_velocity_planner::planning_utils::bitShift(lane_id);
   for (const auto & polygon : polygons) {
     visualization_msgs::msg::Marker marker{};
     marker.header.frame_id = "map";
@@ -224,7 +224,7 @@ constexpr std::tuple<float, float, float> light_blue()
 }
 }  // namespace
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createMarkerColor;
@@ -472,7 +472,7 @@ visualization_msgs::msg::MarkerArray MergeFromPrivateRoadModule::createDebugMark
 
   const auto state = state_machine_.getState();
 
-  int32_t uid = behavior_velocity_planner::planning_utils::bitShift(module_id_);
+  int32_t uid = autoware::behavior_velocity_planner::planning_utils::bitShift(module_id_);
   const auto now = this->clock_->now();
   if (state == StateMachine::State::STOP) {
     appendMarkerArray(
@@ -496,4 +496,4 @@ motion_utils::VirtualWalls MergeFromPrivateRoadModule::createVirtualWalls()
   }
   return virtual_walls;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/decision_result.cpp b/planning/autoware_behavior_velocity_intersection_module/src/decision_result.cpp
@@ -14,7 +14,7 @@
 
 #include "decision_result.hpp"
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 std::string formatDecisionResult(const DecisionResult & decision_result)
 {
@@ -65,4 +65,4 @@ std::string formatDecisionResult(const DecisionResult & decision_result)
   return "";
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/decision_result.hpp b/planning/autoware_behavior_velocity_intersection_module/src/decision_result.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <variant>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 /**
@@ -172,6 +172,6 @@ using DecisionResult = std::variant<
 
 std::string formatDecisionResult(const DecisionResult & decision_result);
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // DECISION_RESULT_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/interpolated_path_info.hpp b/planning/autoware_behavior_velocity_intersection_module/src/interpolated_path_info.hpp
@@ -23,7 +23,7 @@
 #include <set>
 #include <utility>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 /**
@@ -43,6 +43,6 @@ struct InterpolatedPathInfo
   std::optional<std::pair<size_t, size_t>> lane_id_interval{std::nullopt};
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // INTERPOLATED_PATH_INFO_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp b/planning/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 void IntersectionLanelets::update(
@@ -79,4 +79,4 @@ void IntersectionLanelets::update(
     }
   }
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp b/planning/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp
@@ -27,7 +27,7 @@
 #include <optional>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 /**
@@ -190,6 +190,6 @@ struct PathLanelets
                                          // conflicting lanelets plus the next lane part of the
                                          // path
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // INTERSECTION_LANELETS_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/intersection_stoplines.hpp b/planning/autoware_behavior_velocity_intersection_module/src/intersection_stoplines.hpp
@@ -17,7 +17,7 @@
 
 #include <optional>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 /**
@@ -72,6 +72,6 @@ struct IntersectionStopLines
    */
   size_t occlusion_wo_tl_pass_judge_line{0};
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // INTERSECTION_STOPLINES_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/autoware_behavior_velocity_intersection_module/src/manager.cpp
@@ -14,8 +14,8 @@
 
 #include "manager.hpp"
 
-#include <behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
-#include <behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware_behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
+#include <autoware_behavior_velocity_planner_common/utilization/util.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <tier4_autoware_utils/ros/parameter.hpp>
 
@@ -28,7 +28,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::getOrDeclareParameter;
 
@@ -589,11 +589,12 @@ bool MergeFromPrivateModuleManager::hasSameParentLaneletAndTurnDirectionWithRegi
   return false;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::IntersectionModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::IntersectionModulePlugin,
+  autoware::behavior_velocity_planner::PluginInterface)
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::MergeFromPrivateModulePlugin,
-  behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::MergeFromPrivateModulePlugin,
+  autoware::behavior_velocity_planner::PluginInterface)
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/manager.hpp b/planning/autoware_behavior_velocity_intersection_module/src/manager.hpp
@@ -18,9 +18,9 @@
 #include "scene_intersection.hpp"
 #include "scene_merge_from_private_road.hpp"
 
-#include <behavior_velocity_planner_common/plugin_interface.hpp>
-#include <behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware_behavior_velocity_planner_common/plugin_interface.hpp>
+#include <autoware_behavior_velocity_planner_common/plugin_wrapper.hpp>
+#include <autoware_behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_msgs/msg/string.hpp>
@@ -32,7 +32,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 class IntersectionModuleManager : public SceneModuleManagerInterfaceWithRTC
 {
@@ -90,6 +90,6 @@ class MergeFromPrivateModulePlugin : public PluginWrapper<MergeFromPrivateModule
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/planning/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
@@ -64,7 +64,7 @@ tier4_autoware_utils::Polygon2d createOneStepPolygon(
 
 }  // namespace
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 
@@ -305,4 +305,4 @@ std::optional<CollisionInterval> findPassageInterval(
     lane_position, path, {enter_idx, exit_idx}, {object_enter_time, object_exit_time}};
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/object_manager.hpp b/planning/autoware_behavior_velocity_intersection_module/src/object_manager.hpp
@@ -52,7 +52,7 @@ struct hash<unique_identifier_msgs::msg::UUID>
 };
 }  // namespace std
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 /**
@@ -287,6 +287,6 @@ std::optional<CollisionInterval> findPassageInterval(
   const std::optional<lanelet::ConstLanelet> & first_attention_lane_opt,
   const std::optional<lanelet::ConstLanelet> & second_attention_lane_opt);
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // OBJECT_MANAGER_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/result.hpp b/planning/autoware_behavior_velocity_intersection_module/src/result.hpp
@@ -18,7 +18,7 @@
 #include <utility>
 #include <variant>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 template <typename Ok, typename Error>
@@ -48,6 +48,6 @@ Result<Ok, Error> make_err(Args &&... args)
   return Result<Ok, Error>(Error{std::forward<Args>(args)...});
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // RESULT_HPP_
diff --git a/planning/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -16,8 +16,8 @@
 
 #include "util.hpp"
 
-#include <behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>  // for toGeomPoly
-#include <behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware_behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>  // for toGeomPoly
+#include <autoware_behavior_velocity_planner_common/utilization/util.hpp>
 #include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/factor/velocity_factor_interface.hpp>
@@ -38,7 +38,7 @@
 #include <memory>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 
@@ -1412,4 +1412,4 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat
     safely_passed_1st_judge_line_first_time, safely_passed_2nd_judge_line_first_time};
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner